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262 Autonomous Mobile Robots

in deriving the rules in fuzzy systems for systems with little physical insights,
the outputs of the “rules” are updated numerically using adaptive control tech-
niques. It is shown that the controller can drive the system motion to converge to
the desired manifold and at the same time guarantee the asymptotic convergence
of the force tracking error without the requirement of the PE condition. By using
NF approximation, the proposed controller is indeed a turned key solution for
control system design as it requires little information on the system dynam-
ics. Numerical simulation has been carried out to show the effectiveness of the
proposed method for uncertain mobile robots.

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