Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots

  title={Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots},
  author={Tamoghna Das and Indra Narayan Kar},
  journal={IEEE Transactions on Control Systems Technology},
In this paper, a control structure that makes possible the integration of a kinematic controller and an adaptive fuzzy controller for trajectory tracking is developed for nonholonomic mobile robots. The system uncertainty, which includes mobile robot parameter variation and unknown nonlinearities, is estimated by a fuzzy logic system (FLS). The proposed adaptive controller structure represents an amalgamation of nonlinear processing elements and the theory of function approximation using FLS… CONTINUE READING
Highly Cited
This paper has 186 citations. REVIEW CITATIONS
111 Citations
24 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 111 extracted citations

186 Citations

Citations per Year
Semantic Scholar estimates that this publication has 186 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 24 references

A stable tracking control method for an autonomous mobile robot

  • Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noquchi
  • Proc. IEEE Int. Conf. Robotics and Automation…
  • 1990
Highly Influential
3 Excerpts

Simultaneous tracking and stabilization of mobile robots without velocity measurements

  • K. D. Do, Z. P. Jiang, J. Pan
  • Proc. 42nd IEEE Conf. Decision Control, Maui, HI…
  • 2003
1 Excerpt

Similar Papers

Loading similar papers…