Takagi-Sugeno vs. Lyapunov-based tracking control for a wheeled mobile robot

Authors:
Sašo Blažič
Affiliations:
University of Ljubljana, Faculty of Electrical Engineering, Ljubljana, Slovenia
Venue:
WSEAS Transactions on Systems and Control
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.