Adaptive Fuzzy Sliding Mode Controller Trajectory Tracking for Three Wheeled Mobile Robot

Abstract

Over the past three decades, the expanding application of mobile robots in industry, military, home, and public service has piqued the interest of many researchers in wheeled mobile robot trajectory tracking control. Reducing the trajectory reference tracking error of a wheeled mobile robot is a difficult issue because of the nonlinear nature of the system. This study introduces an Adaptive Fuzzy Sliding Mode Controller specifically designed for trajectory tracking of two wheeled mobile robots. The approach considers both the kinematic and dynamic models, utilizing a method based on Lagrangian mechanics. Stability is ensured through the Lyapunov stability function, which confirms reliable performance of the robot. The Adaptive Fuzzy Sliding Mode Controller effectively manages both position and speed control. Simulations conducted using Matlab/Simulink tested the controller’s effectiveness in real-world scenarios, particularly when facing unknown disturbances and variations in initial position. The results revealed impressive tracking performance, with settling time of 0.1203 sec and a peak value of tracking error 0.019 m. Overall, the findings highlight the controller's strong capability to maintain precise movement even under challenging conditions.