A COMPARISON OF LYAPUNOV AND FUZZY APPROACHES TO TRACKING CONTROLLER DESIGN

Abstract

There are numerous types of locomotion of mobile robots. Therein, the most widespread type of locomotion is motion using wheels. The task of robot is transport themselves from place to place. And tracking control is always an important problem to appply robots in practice. The robot has to reach the final goal by following a referenced trajectory. The paper proposes two methods based on the lyapunov stability standard and fuzzy law. Then, we simulate the algorithms to evaluate the results.