Fuzzy-Backstepping Controller Based on Optimization Method for Trajectory Tracking of Wheeled Mobile Robot

This work focus on the application of Fuzzy-Backstepping controller, based on optimization method, for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to the Fuzzy-Backstepping controller to generate correction signals that transport to torque for each driven wheel. By means of dynamic model of mobile robot, these torques are used to compute the linear and angular speed to reach the desired pose. In this work, a dynamics model of mobile robot was driven for the case where the centroid, of mobile robot platform, is not coincide with reference frame of mobile robot; while the inertia is counted for. The Evolutionary Algorithm has been used to modify the parameters of the proposed controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm from tracking S-shape trajectory. The results show a good matching between the desired trajectory and the simulation one, while the error in posture goes to zero rapidly.