Abstract
This paper presents fuzzy backward movement control of a trailer type mobile robot via parallel distributed compensation. A Takagi-Sugeno type fuzzy model is used to represent the nonlinear dynamics of the trailer type mobile robot. The parallel distributed compensation achieves a fuzzy controller design intuitively and easily. In the parallel distributed compensation, each control rule of fuzzy controller can be designed from the corresponding rule of the Takagi-Sugeno type fuzzy model which represents the nonlinear dynamics of the trailer type mobile robot. Furthermore, we analyze the stability of the fuzzy control system via Lyapunov approach. A Lyapunov function is found by using a construction method in the stability analysis. The experimental results show that the designed fuzzy controller effectively realized backward movement control of the trailer type mobile robot so as to avoid jack-knife phenomenon.
