This paper focuses on the control of wheeled mobile robot under bounded torque disturbances. Hybrid tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. The procedure consist in minimizing the stabilization error of the kinematic model through genetic algorithm approach while attenuation to perturbed torques is made through type-2 Fuzzy Logic Control (FLC) via backstepping methodology. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system which is claimed to be a robust tool for related applications. The theoretical results are illustrated through computer simulations of the closed-loop system.
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