Formation control of leader-follower robot using interval type-2 fuzzy logic controller

Abstract

This paper proposes formation control in leader-follower robot using interval type-2 fuzzy logic controller (IT2FLC). The controller gives the robots position and orientation between desire pose and actual pose. The IT2FLC is advantageous in comparison with type-1 fuzzy logic controller (T1FLC). Experimental result show by using IT2FLC produce good performance compare to T1FLC. In open space environment, produce small data only 836 for fuzzy process, fast response about 107.8 and smooth movement of the leader-follower posture to accomplish the target without collision.