Tracking Control for Mobile Robot Based on Fuzzy Systems

퍼지 시스템을 이용한 이동로봇의 궤적제어

  • 박재훼 (부산대학교 메카트로닉스과정) ;
  • 이만형 (부산대학교 기계공학부)
  • Published : 2003.06.01


This paper describes a tracking control for the mobile robot based on fuzzy systems. Since the mobile robot has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile robot. One of the well-known tracking controllers for the mobile robot is the back-stepping controller. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot. The conventional back-stepping controller is affected by the derived velocity reference by a kinematic controller. To improve the performance of the conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. The new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. Simulation results show that the proposed controller is more robust than the conventional back-stepping controller.


  1. Y. Kanayama, Y. Kimura, F. Miyazaki and T. Noguchi, 'A stable tracking control method for an autonomous mobile robot,' in Proc. IEEE Int. Conf. Robot and Automation, pp. 384-389,1990
  2. W. E. Dixon, D. M. Dawson, E. Zergeroglu and A. Behal, Nonlinear Control of Wheeled Mobile Robots,' Springer, 2001
  3. T. Fukao, H. Nakagawa, and N. Adachi, 'Adaptive tracking control of a nonholonomic mobile robot,' IEEE Trans. On Robotics and Automation, vol. 16, no. 5, pp. 609-615, Oct. 2000
  4. Q. Zhang, J. Shippen, B. Jones, 'Robust backstepping and neural network control of a low quality nonholonomic mobile robot,' International Journal of Machine Tools & Manufacture, no. 39, pp. 1117-1134, 1999
  5. B. d'Andrea Novel, G. Bastin, and G. Campion, 'Control of nonholonomic wheeled mobile robots by state feedback linearization', The International Journal of Robotics Research, vol. 14, no. 6, pp.543-559, 1995
  6. B. d'Andrea Novel, G. Bastin, and G. Campion, 'Modeling and control of nonholonomic wheeled mobile robots,' Proceedings of the 19991 IEEE International Conference on Robotics and Automation, Sacrameto, California, pp. 1130-1135, April, 1991
  7. Z. Ping, J. and H. Nijmeijer, 'Tracking control of mobile robot: a case study in backstepping,' Automatica, vol. 33, no. 7, pp. 1393-1399, 1997
  8. 김도우, 양해원, and 유지섭,'관로 검사로봇 자세의 퍼지 PID제어', 대한전기학회 논문지, vol. 49D, no. 8, pp. 473-480, Aug. 2000
  9. R. Fierro and F. L. Lewis, 'Control of a nonholonomic mobile robot using nerual networks,' IEEE Trans. On Neural Networks, vol. 9, no. 4. , pp. 589-600, July, 1998
  10. 김무진, 이영진, 박성준, and 이만형,'신경회로망을 이용한 이동로봇의 정밀제어,' 제어.자동화.시스템공학회 논문지, vol. 6, no. 8, pp. 689-696, Aug. 2000
  11. J. Yen and R. Langari, Fuzzy Logic: Intelligence, Control, and Information, Prentice-Hall, 1999
  12. J.-S. R. Jang, C.-T. Sun, and E. Mizutani, Neuro-Fuzzy and Soft Computing, Prentice-Hall, 1997

Cited by

  1. A Mobile Robot Estimating the Real-time Moving Sound Sources by using the Curvature Trajectory vol.20, pp.1, 2014,