Design of T-S fuzzy controller for two-wheeled mobile robot

Abstract

The switching Takagi-Sugeno (T-S) fuzzy model-based position control design for a differentially driven wheeled mobile robot is considered in this paper. In this work, the kinematic equations of the differentially driven wheeled mobile robot are firstly represented by exact T-S fuzzy systems. Then the switching section method is further employed to avoid uncontrollable problem of the derived T-S fuzzy model. Consequently, the switching parallel distributed compensation is utilized to control the switching fuzzy system. Moreover, the guaranteed cost control concept is utilized to improve the performance of the control system. Finally, the experimental results illustrate the effectiveness of the control design.