Advanced fuzzy control of a trailer type mobile robot-stability analysis and model-based fuzzy control

In a previous paper (see “A Robust Stabilization Problem of Fuzzy Controller Systems and Its Applications to Backing up Control of a Truck-Trailer”, IEEE Trans. on Fuzzy Systems, Vo1.2, no.2, p.119-34, 1994), we designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, we have shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. We control a real trailer type mobile robot by applying the design method proposed previously. The experimental results show that the designed fuzzy controller effectively realize backing up control of the real trailer type mobile robot