Fuzzy Model-Based Control Approach for a Vehicle-Type Mobile Robot

Abstract

This paper presents a new control approach for a vehicle-type mobile robot. It is well known that most of these robots are difficult to control due to the nonholonomic constraints. Although a number of approaches have been proposed to stabilize these robots, the presence of numerous singular points remains an issue. A key feature of the proposed approach is to represent the system in polar coordinates and to define the desired course angle as a new variable. Subsequently, by rewriting the system as a nonlinear state equation and converting it into a Takagi-Sugeno fuzzy model, a stable controller with fewer singular points can be designed. Several simulation results with different initial positions demonstrate the effectiveness of the proposed approach.