Model-based fuzzy control of a trailer type mobile robot

Abstract

Tanaka and Sano (1993,1994) designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, it was shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. In this paper, the author controls a real trailer type mobile robot by applying the design method proposed in the above papers. The experimental results show that the designed fuzzy controller effectively realizes backing up control of the real trailer type mobile robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>