Robust Tracking Scheme for Wheeled Mobile Robot with Actuator Saturations Via Uncertain T-S Fuzzy Model

Abstract

In this paper, a constrained robust guaranteed cost tracking scheme for Wheeled Moving Robot (WMR) with actuator saturations is proposed. First, tracking error dynamics of WMR is represented by uncertain Tagaki-Sugeno (T-S) fuzzy model, where varying velocity in desired trajectory is look as uncertain parameter, so we can represent the T-S subsystem via Then constrained robust guaranteed controller in the form of state feedback is derived for each subsystem by solving LMI based semi-definite programming problems. Finally, The overall controller then is constructed in the framework of PDC and the Lyapunov stability of the closed-loop system is tested finally. Simulation results are given and discussed to validate the proposed scheme.