An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic

Abstract

An adaptive fuzzy control design is developed in this investigation. The main objective of the proposed method will solve the trajectory tracking problem of mobile robots which are with a symmetrical schematic property and modelling uncertainties. This proposed control law combines a nonlinear optimal control which is used for the purpose of saving energy consumption and a fuzzy eliminator utilized to model the uncertainties. This proposed control method facilitates to implement in practice since the analytical solution of this tracking problem of mobile robot is found. From the simulation results, this proposed control design delivers really promising control performance for mobile robots.