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In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of Sliding Mode Control (SMC) with Fuzzy Logic Control (FLC). The path comprises a sequence of discrete waypoints. A novel approach in path extraction interpolates waypoints by means of quadratic curve to generate a continuous reference path. The positional data of waypoints are obtained using a vision system mounted on the mobile robot. Experimental study has been carried out to evaluate the performance of the proposed controller and to compare its performance with a conventional fuzzy logic controller performance. The experimental results show that the proposed controller has achieved superior performance in the presence of model uncertainties and external disturbances with minimum reaching time, minimum distance error, and smooth control actions.

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In this article, a novel method for characterizing the exact solution for interval linear systems is presented. In the proposed method, the entries of the interval coefficient matrix and interval right-hand side vector are formulated as linear functions of two or three parameters. The parameter groups for two- and three-parameter cases are identified. The exact solution is characterized using the solution sets corresponding to the parameter groups. The parametric method is then employed in the motion analysis of manipulators considering the uncertainty in kinematic parameters. Example manipulators are used to show the implementation of the method and the effect of uncertainty in the motion performance.

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