Fuzzy model reference control of wheeled mobile robots

摘要

Presents the control of a two-wheeled mobile robot (WMR) using a fuzzy model approach. A fuzzy controller is designed based on a TS fuzzy plant model of the WMR. This proposed controller is capable of driving the system states of the WMR to follow those of a stable reference fuzzy model with the stability of the closed-loop system guaranteed. Simulation results will be presented to illustrate the merits of the proposed fuzzy controller.