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In this paper, we propose a trajectory tracking controller for a two-wheeled mobile robot (WMR) with nonholonomic constraints using a fuzzy sliding-mode controller-based hyperbolic function. The proposed controller is composed of two separate controllers. The sliding-mode controller is used for attitude control of the WMR, and the fuzzy controller-based hyperbolic function is designed to adjust the reach time of the sliding-mode control. Simulation results on a linear and a circular trajectory show that the proposed controller improves the control performance. The proposed controller reduces the reach time by as much as 47% compared to the controller proposed by Xie et al. Key Words : Fuzzy sliding mode control(   ), Trajectory tracking( ), Nonholonomi( ), Two wheeled mobile robot(2 ) * Department of Electronic Engineering, Graduate School Kumoh National Institute of Technology. # Coreesponding Author : School of Electronic Engineering, Kumoh National Institute of Technology. E-mail : sjlee@kumoh.ac.kr** School of Electronic Engineering, Kumoh National Institute of Technology.

Trajectory Tracking Control for Two Wheeled Mobile Robot using Fuzzy Sliding Mode Control based Hyperbolic Function