Noised Trajectory tracking Control based on Fuzzy Lyapunov approach for Wheeled Vehicles

This paper solves a trajectory tracking control problem whit outside perturbations for wheeled nonholonomic vehicles using a Fuzzy Lyapunov method. Trough a symbiosis between classical backstepping techniques and fuzzy logic, the control system ensures a good robustness with respect to outside perturbations. Possible causes of perturbations are the characteristics of the ground and the contact between the wheels and the ground. These perturbations can interact with the vehicle, they are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. The convergence of the tracking errors to the origin and the asymptotic stability of the equilibrium state of the fuzzy kinematical control system are guaranteed by Lyapunov's method. The algorithm efficiency, error minimization and noises reject are confirmed through simulation examples in Matlab environment.