Analysis of the Stability of a Fuzzy Control System Developed to Control a Simulated Robot

Abstract

This work presents a fuzzy system designed to guide a simple simulated robot through a virtual world populated with randomly placed obstacles. The environment simulates a situation where the robot has to move in a complex world and has to calculate not only its direction but also its speed. The main goal was to investigate the performance of a fuzzy controller studying its sensitivity and robustness. The sensors used by the robot were very simple, so its knowledge of the environment was limited. The system was quickly engineered and proved to be very successful reaching the goal in all designed tests. The tests also proved that the controller is very robust. The simplicity, easiness of design and robustness of the controller, suggests that for many control tasks, it is possible to create a fuzzy system that can perform very well under real conditions