Anti-windup uniform fuzzy control for uncertain wheeled mobile robots

This paper presents a unified control strategy to address the challenge of input saturation in wheeled mobile robots, particularly those with incomplete kinematic constraints. The strategy is based on reconceptualizing the robot's kinematic model into a chain system using the transversal function technique. This transformation ensures a fully actuated system characterized by decoupled inputs and outputs that are free from singularities. To handle uncertainties and external disturbances, the paper proposes a dynamic control model that utilizes inversion-based controllers. Th controller is improved by adaptive fuzzy logic, which is fine-tuned to predict the evolving uncertainties of the system. The methodology employs a dynamic input constraint mechanism that considers saturation limits. The Lyapunov method validates the methodology's robustness and effectiveness, confirming the asymptotic stability of the system. Extensive simulations demonstrate the method's effectiveness in controlling uncertain wheeled mobile robots under stringent operational constraints.