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This report proposes a trajectory tracking control algorithm for a 3-wheeled mobile robot (3WMR) using Fuzzy Logic-Based Adaptive Control. The HSMC (Hierarchical Sliding Mode Control) algorithm employs a hierarchical controller structure, ensuring robust and precise control. This research addresses the complex control needs of underactuated 3WMRs, enhancing adaptability through fuzzy logic for tasks like search and rescue, autonomous transport, and environmental monitoring. Simulations confirm the technique's accuracy and practicality.

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A Study on Fuzzy Logic-Based Adaptive Controller for 3-Wheeled Mobile Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Nguyen Lam Thanh Tung,
  • Nguyen Xuan The,
  • Ngoc Thanh Pham,
  • Nguyen Ngoc Linh,
  • Le Xuan Hai,
  • Nguyen Duc Loi

摘要

This report proposes a trajectory tracking control algorithm for a 3-wheeled mobile robot (3WMR) using Fuzzy Logic-Based Adaptive Control. The HSMC (Hierarchical Sliding Mode Control) algorithm employs a hierarchical controller structure, ensuring robust and precise control. This research addresses the complex control needs of underactuated 3WMRs, enhancing adaptability through fuzzy logic for tasks like search and rescue, autonomous transport, and environmental monitoring. Simulations confirm the technique's accuracy and practicality.