MIXED MODEL BASED/FUZZY ADAPTIVE ROBUST CONTROLLER WITH H∞ CRITERION APPLIED TO WHEELED MOBILE ROBOTS

A mixed model based/fuzzy adaptive robust controller with H∞ performance is proposed for wheeled mobile robots (WMRs). An adaptive control law based on Takagi-Sugeno (T-S) fuzzy model is used only for adapting the uncertain dynamics of the WMRs. It is developed for actuating as a complement of the nominal model. Experimental results obtained from an actual WMR are presented to show the robustness of this new approach, guaranteed by a H∞ performance criterion.