Feedback Linearization and SelfTuning PD Fuzzy Controller for wheeled mobile robot

In this paper, we will present a combined feedback linearization and self-tuning fuzzy PD virtual structure based formation control. This control strategy guarantees that each individual of the robot team successfully tracks its own trajectory while maintaining its position in the formation. To this end, we will use the dynamic model of the nonholonomic wheeled mobile robot to design a feedback linearization control for trajectory tracking aim, and a self-tuning fuzzy PD controller based of the relative distant error between each pair of robots for formation maintaining. At the end of the chapter, we will study the stability analysis of the proposed approach and the results of the simulation. As mentioned before, the control objectives are distributed into two separate parts, the first is to track a pre-defined trajectory and the other is to maintain a desired formation shape. The first part of the controller is achieved using feedback linearization and the second is PD controller.