TYPE-2 FUZZY ADAPTIVE TRAJECTORY TRACKING OF WHEELED MOBILE ROBOT
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Type-2 fuzzy; Adaptive control; Wheeled mobile robot; Wheel slip.Abstract
This paper proposes a type 2 -fuzzy adaptive control tracking for wheeled mobile robots with wheel slip. We use the adaptive interval type-2 fuzzy logic controller to approximate the optimal control law for both kinematic and dynamics loops under the conditions that the wheels of the wheel mobile robot slip. The stability of the overall system is proof using Lyapunov stability. The proposed control schema is simulated by Matlab-Simulink, the results show that the system is stable and the position tracking errors converge to zero.
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