Takagi-Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

摘要

This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi-Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.