A New Adaptive Fuzzy Integral Sliding Mode Controller Design for Electrically Driven Nonholonomic Wheeled Mobile Robots

In this paper, adaptive fuzzy integral sliding mode controller for controlling the position of the mobile robot on wheels in presence of motor’s dynamic, structural and un-structural uncertainties, existing in equations of mobile robot is designed. In the proposed controller, based on kinematic controlling of the back stepping method, the sliding surface dynamic controller the value of integral sliding mode controller is defined by a new method. Furthermore, to overcome undesired chattering phenomena in control input by using the fuzzy logic, a SISO fuzzy approximator is designed in a way to eliminate the chattering phenomena. Then to reduce the tracking error and to prevent, increasing of fuzzy system computational load, the adaptive fuzzy approximator will be presented, to approximate structural and un-structural uncertainties’ bound. Mathematical proof shows that the closed-loop system of kinematic control with adaptive fuzzy integral sliding mode control in the presence of all the uncertainties has global asymptotical stability. To show the performance of proposed controller, a case study of the wheel mobile robot in presence of DC servo motors is performed. Simulation’s results show the desired performance of the proposed controller.