Stochastic fuzzy control for an autonomous mobile robot

Abstract

This paper presents a design method of stochastic fuzzy controller for multi input and output nonlinear systems, in which the fuzzy controller can be designed using a pole assignment without using any conventional fuzzy reasoning. The stochastic fuzzy control method is applied to a nonlinear system of an omnidirectional holonomic mobile robot. The effectiveness of the control scheme is illustrated by numerical simulations for some path tracking problems in the omnidirectional mobile robot with three orthogonal-wheel assemblies.