Fuzzy variable-structure control for nonholonomic vehicle path tracking

A fuzzy variable structure controller is presented for trajectory tracking of vehicle. The path tracking problem is converted into a control problem based on kinematics model of the vehicle. The proposed control approach enables the system states to track the desired trajectory with high precision. Furthermore, by using fuzzy control concept in the variable structure system, the chattering problem which exists in most variable system is subdued, and system robustness to uncertainties and external disturbance is improved. Simulation results are presented to validate the control algorithm.