Hybrid Control for an Autonomous Wheeled Mobile Robot Under Perturbed Torques

摘要

This paper focuses on the control of wheeled mobile robot under bounded torque disturbances. Hybrid tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. The procedure consist in minimizing the stabilization error of the kinematic model through genetic algorithm approach while attenuation to perturbed torques is made through type-2 Fuzzy Logic Control (FLC) via backstepping methodology. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system which is claimed to be a robust tool for related applications. The theoretical results are illustrated through computer simulations of the closed-loop system.