Adaptive fuzzy control of mobile robots with full-state constraints and unknown longitudinal slipping

Motion control of wheeled mobile robots with state constraints under slipping condition faces many difficulties, such as unmeasurable velocities, non-holonomic kinematic model, and unknown disturbances. Aiming at these problems, an adaptive fuzzy controller is proposed in this paper. Firstly, a fuzzy state observer is developed to estimate the velocity and compensate the unknown complex system model. Then, a output vector is designed to convert...