A Takagi-Sugeno Fuzzy Logic Motor Control for Robot for Assistance to Individuals with Impairments

As part of the development of a drone that can bring help and comfort to disabled people, we are developing a mobile platform based on four independent wheels of the “Mecanum” type which also allow lateral-tangential movements in addition to those normally operational with cartwheels. In order to obtain maximum performance and reliability, some of the subsystems must no longer be entrusted to a deterministic logic but to a fuzzy one. In our case, it concerns the management of the power (torque) of the four independent motors, for which a solution based on the Takagi-Sugeno method is proposed.