Robust Tracking Controller Design and Its Application to Wheeled Robot

A robust tracking controller is developed to improve the tracking performance for nonlinear dynamic system in this study. The proposed controller comprises a fuzzy PID sliding-mode controller (FPIDSMC) and an adaptive tuner. The FPIDSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a PID sliding-mode controller (PIDSMC). The adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilized to adjust the parameter on-line for further assuring robust and optimal performance. In the FPIDSMC, the fuzzy rule base is compact and only one parameter needs to be adjusted. To verify its effectiveness and extend its application, the proposed adaptive fuzzy PID sliding-mode controller (AFPIDSMC) is applied to the path tracking of a wheeled robot, whose salient performance is verified by numerical simulation and whose advantages are presented in comparison with conventional AFSMC scheme under the same environment.