A Novel Fuzzy Trajectory Tracking Control Design for
Wheeled Mobile Robot
Volume 2 - Issue 3
Yung-Hsiang Chen*
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- Department of Mechanical Engineering, National Pingtung University of Science and Technology, Taiwan
*Corresponding author:
Yung-Hsiang Chen, Department of Mechanical Engineering, National Pingtung University of Science and
Technology, No. 1, Shuefu Road, Neipu, Pingtung 91201, Taiwan
Received: February 21, 2020; Published: March 04, 2020
DOI: 10.32474/ARME.2020.02.000138
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Abstract
A novel fuzzy based control design for the trajectory tracking of wheeled mobile robot (WMR) is presented in this paper. This
approach can be applied to generate trajectory tracking control commands on WMR movement. The design objective is to specify
one fuzzy control law that can force the WMR to track a predefined trajectory for the nonlinear trajectory tracking control of WMR.
In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem, hence we try to treat
this trajectory tracking problem from the so-called fuzzy control design concepts. Finally, one testing scenario: circular reference
trajectory tracking is applied to performance verification.
Keywords: Wheeled mobile robot (WMR); Fuzzy control law; Trajectory tracking
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