This report proposes a trajectory tracking control algorithm for the 3-wheeled mobile robot (3WMR), based on Fuzzy Logic-Based Adaptive Control. The HSMC (hierarchical sliding mode control) algorithm involves a hierarchical structure of controllers, each responsible for a specific task or objective, with sliding mode control employed at each level to ensure robust and precise control. The significance of this research lies in its contribution to the field of robotics by addressing the intricate control requirements of underactuated 3WMR. Furthermore, the incorporation of fuzzy logic-based adaptation enhances the controller’s adaptability to changing conditions, making it suitable for a wide range of practical applications, including but not limited to search and rescue missions, autonomous transportation, and environmental monitoring. The results are verified by simulation to see the correctness and practical applicability of the solution proposed technique.

3-wheeled mobile robot, HSMC, Fuzzy Logic, Underactuated system, Sliding mode control