Control of mobile robots based on T-S fuzzy linearization

In this paper, a T-S fuzzy modeling and tracking control method is proposed for wheeled mobile robots by using T-S fuzzy linearization approach. The proposed method has advantages in that the linear control theories can be used for the tracking control of wheeled mobile robots after linearization of them. The local linear models are converted into controllable canonical forms respectively and then fuzzy combination of them gives T-S fuzzy system of controllable canonical form. The canonical form can be linearized using nonlinear feedback input.