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نویسندگان
چکیده
This paper presents a new fuzzy Lyapunov controller for nonholonomic mobile vehicles. A symbiosis between classical backstepping techniques and fuzzy logic was realized. The control system ensures a good robustness with respect to outside perturbations. These perturbations can interact with the vehicle. They are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. Therefore the trajectory tracking problem with noise is considered. The asymptotic stability of the fuzzy kinematical control system is guaranteed by Lyapunovs method. The algorithm efficiency, error minimization and noises reject are confirmed through simulation examples in Matlab environment. Key-Words: Backstepping, Fuzzy controllers, Nonholonomic systems, Trajectory tracking control, Lyapunovs stability.
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