Fuzzy Control Solution for a Class of Tricycle Mobile Robots

The paper proposes an original fuzzy control solution to solve the tracking problem in case of a class of tricycle mobile robots with two degrees of freedom and steered front wheel. The control system structure contains two control loops to control the forward velocity and the angle between the heading direction and the x-axis. The reference trajectory is obtained on the basis of an obstacle avoidance strategy employing the artificial potential field method. The development in the linear case is done in terms of the extended symmetrical optimum method and of the iterative feedback tuning method resulting in two linear PI controllers. A new development method is proposed based on the transfer of results from the linear case to the fuzzy one employing Mamdani PI-fuzzy controllers. Simulation results validate the proposed fuzzy control solution