Control Nonholonomic Mobile Robot with Hybrid Sliding Mode/Neuro Fuzzy Controller

摘要

Many works has been done in the mobile robots research domain, resulting different methods to enhance the performance of the mobile robot. This article will adopt a hybrid approach to improve the performance of a path tracking controller by designing an algorithm that uses two methods: the first one is Sliding Mode [SM], which will have one of its parameters controlled by the second one based on neurofuzzy [NF].