Stability of tracking wheel mobile robot with teleoperation fuzzy neural network control system

Abstract

The stability of the Tracking Wheel Mobile Robot with Teleoperation System and Path Following Method is discussed in this study. The path is to be tracked by the host computer which is the master robot. The response from the robot is captured on camera. As the slave robot approaches the target position, the camera captures the response robot’s position and as well as moving trajectory. The host computer receives all of the images, enabling mobile robot deviation recoveries. The slave robot can use teleoperation to follow the sensor based on the decisions made by the master robot. The Lyapunov function in the Fuzzy Neural Network (FNN) control structure assures the system’s stability and satisfactory performance. It supports a mobile robot’s ability to adhere to a reference trajectory without deviating from it. Finally, the outcome of the simulation demonstrates that our controller is capable of tracking different environmental conditions and maintaining stability.