Design of robust tracking controller for wheeled robot

A robust tracking controller is designed to improve the tracking performance for wheeled robot in this study. The proposed controller comprises a fuzzy sliding-mode control (FSMC) and an adaptive tuner. The FSMC acts as the main tracking controller, which is designed via a fuzzy system and a sliding-mode surface. The adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilized to adjust the parameter on-line for further assuring robust and optimal performance. In the FSMC, the fuzzy rule base is compact and only one parameter needs to be adjusted. To verify its effectiveness, the proposed adaptive fuzzy sliding-mode controller (AFSMC) is applied to the path tracking of a wheeled robot, whose salient performance is verified by numerical simulation.