Robust Control Using Adaptive Fuzzy Terminal Sliding Mode for Mobile Robot

This paper presents a novel approach for mobile robot trajectory tracking using adaptive fuzzy system and terminal sliding mode control in presence of uncertainties and disturbances. The proposed controller aims to tend the posture error to zero in finite time and guarantees the stability of the system using Lyapunov theory. Its configuration solicits two sub-control systems, a kinematic and a dynamic controller. The kinematic controller uses a fast terminal function (FTF) and classical sliding mode theory in order to design the linear and angular control velocities. These control parameters permit to the robot to converge towards the reference and stabilize the posture error to zero. The dynamic controller is constructed based on FTF and adaptive fuzzy system which permits to stabilize the velocity error between the dynamic velocities and the references. Moreover, this adaptive fuzzy controller approximates the nonlinear function of the dynamic model and decreases the disturbances. The simulation works under Matlab\Simulink show the robustness of the proposed approach.