Fuzzy Logic Tracking Control for Unicycle Mobile Robots

This paper addresses the problem of trajectory tracking control in an autonomous, wheeled, mobile robot of unicycle type using Fuzzy Logic. The Fuzzy Logic Control (FLC) is based on a backstepping approach to ensure asymptotic stabilization of the robot’s position and orientation around the desired trajectory, taking into account the kinematics and dynamics of the vehicle. We use the Mamdani inference system to construct a controller, with nine IF-THEN rules and the centroid of area method as our deffuzification strategy where the input torques and velocities are considered as linguistic variables. The performance of this FLC are illustrated in a simulation study.