Fuzzy control of a mobile robot: a new approach

This paper presents a new approach to design a fuzzy controller for backing up a mobile robot. After making the dynamics of the mobile robot interpolated by two linear systems, a general analysis and design method are proposed to stabilize it with two fuzzy rules. The method is based on converting the stability analysis of a fuzzy control system to the stability analysis of an overvaluing system for the mobile robot. A sufficient condition based on the use of the comparison system is deduced to guarantee the stability of the mobile robot. To highlight the performance of the new proposed technique, simulation results are presented.