Adaptive fuzzy sliding-mode controller with Gaussian modulated membership function on tracking trajectory

Abstract

This paper presents an study on nonholonomic wheeled mobile robots (WMRs) to track a reference trajectory base on adaptive fuzzy sliding-mode controller with Gaussian modulated membership function (AFSMC-GMMF). Tracking issue is the most important part for wheeled mobile robots. This paper proposes a path following controller to achieve the goal. First, we introduce the kinematic models of nonholonomic WMRs and the following controller. The adaptive fuzzy sliding-mode controller (AFSMC), which not only reduce the chattering phenomenon in the sliding-mode controller (SMC), but also handle with the system external noises and uncertainties. The Gaussian modulated membership function (GMMF) goes one step further to saving a lot of computation time by adjusting a few parameters.