Some performance issues in tracking-error fuzzy control of mobile robots

Authors:
Sašo Blažič;El-Hadi Guechi;Jimmy Lauber;Michel Dambrine;Gregor Klančar
Affiliations:
Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;LAMIH laboratory UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes cedex, France;LAMIH laboratory UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes cedex, France;LAMIH laboratory UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes cedex, France;Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia
Venue:
FS'09 Proceedings of the 10th WSEAS international conference on Fuzzy systems
Year:
2009

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Abstract

This paper deals with Takagi-Sugeno modelling and control of nonholonomic mobile robots. The nonlinear tracking error-model is solved analytically under the premise of ZOH present at the system input. The nonlinear discrete model is developed. Several discretization issues are discussed and the modelling errors are analysed. The sector nonlinearity approach is used for constructing the Takagi-Sugeno model. The control is designed in the LMI framework. Some performance issues are discussed on the simulation cases.