Path tracking for a wheeled mobile robot using T-S fuzzy control

摘要

This paper proposes the design of T-S fuzzy controllers for the path tracking of a wheeled mobile robot (WMR). The authors derive the nonlinear equations of motion for the wheeled mobile robot systems. The T-S fuzzy model can approximate the nonlinear robot systems. Based on the Lyapunov stability theorem, the authors derive the linear matrix inequality (LMI) to obtain feedback gains. Furthermore, the authors use the concept of fuzzy region to reduce the numbers of T-S fuzzy rules and improve the performance of T-S fuzzy controllers. Last, experiments and computer simulations demonstrate the advantages and limitations.