Takagi-Sugeno Fuzzy formation control of nonholonomic robots

Abstract

In this paper, a new controller is proposed to solve a formation control problem in the leader-follower framework. The proposed controller is based on Takagi-Sugeno Fuzzy algorithm. The control laws have 25 rules for velocity and angular velocity control loops of nonholonomic robot. As a result, the formation is achieved with much more enhanced robust formation performance. Simulation results illustrate the improved performance of the proposed controller compared to PID adaptive controller.