Tracking Controller of Mobile Robot

The control objective will be established as follows Given a desired trajectory qdt) and the orientation of the mobile robot we must design a controller that applies an adequate torque x such that the measured positions q(t) achieve the desired reference qdt) represented as (5.4)  

To reach the control objective, we are based on the procedure of [14], we are deriving a r(t) of a specific vjt) that controls the steering system (5.1) using a Fuzzy Logic Controller (FLC). A general structure of tracking control system is presented in the Fig. 5.3. 

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T.-C. Lee, C.H. Lee, C.-C. Teng, Tracking control of mobile robots using the backsteping technique, in Proceedings of the 5th International Conference Control, Automation, Robotics Vision. (Singapore, Dec 1998), pp 1715-1719... 

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