Optimal design of type-2 and type-1 fuzzy tracking controllers for autonomous mobile robots under perturbed torques using a new chemical optimization paradigm

This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application. (C) 2012 Elsevier Ltd. All rights reserved.