AN EFFICIENT ADAPTIVE CONTROL STRATEGY USING BACKSTEPPING CONTROL TECHNIQUE AND FUZZY LOGIC FOR WHEELED MOBILE ROBOT

Abstract

This paper presents a novel adaptive controller for wheeled mobile robots
(WMR) based on backstepping control technology (BCT) and fuzzy logic system
(FLS). The controller is designed using BCT, and then its uncertainty parameters
are adjusted using FLS. In addition, the stability of the closed-loop control
system is proven based on the Lyapunov principle. The simulation results show
that the WMR can precisely move on its own according to its intended trajectory.
Moreover, with the integration of the fuzzy logic system, the proposed
controller's quality is significantly improved compared to the conventional
backstepping controller.