Comparison of Takagi-Sugeno and Lyapunov based tracking controls for a novel kinematic model of a mobile robot

Authors:
Sašo Blažič
Affiliations:
University of Ljubljana, Faculty of Electrical Engineering, Ljubljana, Slovenia
Venue:
NN'10/EC'10/FS'10 Proceedings of the 11th WSEAS international conference on nural networks and 11th WSEAS international conference on evolutionary computing and 11th WSEAS international conference on Fuzzy systems
Year:
2010

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Abstract

In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. Two control approaches are proposed to solve the tracking problem. One approach is based on the Takagi-Sugeno fuzzy model where a parallel distributed compensation control is used. The alternative approach is to use Lyapunov stability analysis to construct a nonlinear controller that achieves asymptotic stability if reference velocities satisfy the condition of persistent excitation.