Fuzzy Sliding Mode Control Based Path-Following of a Complete Wheeled Mobile Robot System

In this study, a Fuzzy Sliding-Mode Control (FSMC) technique is presented to tackle the path-following problem of a Wheeled Mobile Robot (WMR). A complete dynamic model of the WMR consisting of kinematics, dynamics, and actuator dynamics is established. In this way, motor voltages generated by the proposed FSMC are used to control the WMR to the desired path. A desired circular path with a radius of 2 m is planned and then the WMR is controlled starting from different initial positions. To investigate the robustness of the proposed control scheme, an external disturbance continued for one second is injected into the WMR system. The corresponding simulations are conducted and the results indeed show that the proposed method possesses a high level of robustness and fast convergence.