Fuzzy Control System Using Nonlinear Friction Observer for the Mobile Robot

摘要

In this paper, a fuzzy control system with the nonlinear friction observer is presented. This observer is used to compensate the nonlinear friction that makes the position accuracy in a wheeled mobile robot be limited. Adding the nonlinear friction observer in the system, the tracking accuracy of the robot is improved without any breakaway when it traces the reference trajectory. And experimental results show that the fuzzy controller with the observer has better performance even though it has difference between the right wheel inertia and the left wheel inertia.