Polynomial fuzzy control of a wheeled mobile robot with control input saturation

This paper proposes the design of polynomial fuzzy controllers for the path tracking of a wheeled mobile robot (WMR) with control input saturation. The authors use polynomial Lyapunov approach to analyze and derive the stability conditions of the polynomial fuzzy system with constraints on control input, which is more relaxed than linear matrix inequality (LMI) approach to T-S fuzzy modeling and control. The constraint conditions are represented in terms of sum of squares (SOS) of the polynomial fuzzy systems and can be numerically solved via the recent developed SOSTOOLS. According to the sum of squares approach, the parallel distributed compensation (PDC) controller is obtained to track the state trajectory of a reference model. Last, computer simulations demonstrate the advantages and limitations.