ADAPTIVE FUZZY CONTROLLER FOR LEG-WHEELED MOBILE ROBOT

We propose a fuzzy adaptive controller for trajectory following of leg-wheeled robot. The initial fuzzy rules are extracted by using a traditional PD controller. Then expert experiences are used to complement the rules. Finally the error back-propagation algorithm is used for on-line adaptive parameter tuning. Simulation results verify that this method has better trajectory following precision and better rejection of disturbance.