Abstract: A fuzzy adaptive path tracking control scheme is presented for a mobile robots with uncertain position of centroid based on Fast Terminal Sliding Mode（FTSM）. The fuzzy system is used to approximate the unknown function of controller, unknown parameters are adjusted by using Lyapunov stability analysis, and the robust controller is designed to compensate for the approximation errors. The proposed design scheme is proved to guarantee that all signals in the closed-loop system are bounded and that the tracking error converges to a small neighborhood of the origin in finite time. Simulation results verify the effectiveness of the proposed scheme.

Key words: mobile robots system, fast terminal sliding mode, path tracking control, adaptive fuzzy control

摘要： 对质心位置未知的移动机器人系统设计了基于快速终端滑模的模糊自适应路径跟踪控制方法。该方法采用模糊逻辑系统逼近控制器中的未知函数，基于李亚普诺夫稳定性分析方法对未知参数设计自适应律，并设计鲁棒控制器来补偿逼近误差。该方法不但可以保证闭环系统中的所有信号有界，而且可使跟踪误差在有限时间内收敛到原点的小邻域内。仿真结果验证了方法的有效性。

关键词: 移动机器人系统, 快速终端滑模, 路径跟踪, 自适应模糊控制