Mixed fuzzy sliding mode three-dimensional trajectory tracking control for a wheeled mobile robot

A three-dimensional (3d) trajectory tracking controller for a wheeled mobile robot via adaptive fuzzy sliding mode (AFSM) technique is designed in this paper. To begin, according to the coordinate transformation theory, the wheeled mobile robot dynamics equation and position equation are obtained. Then, the fuzzy sliding mode trajectory tracking controller is designed by fuzzy index reaching rate for the wheeled mobile robot system. Finally, compared with PID control method, the numerical simulation results show that proposed method has higher control precision and better convergence speed, and reduce chattering existing in conventional sliding mode control.