Position control of a 6×6 ATV using a MIMO fuzzy controller

Motion control for all terrain vehicles with skidsteer actuation is particularly challenging due to the nonlinearities that arise from tire slip and braking. In addition, the unobservability of the instantaneous friction coefficient leads to significant uncertainty in the dynamics of the vehicle. This work seeks to overcome these challenges by developing a Takagi-Sugeno fuzzy controller for vehicle position control. This removes the requirement for the high-level planning algorithms to be able to compensate for the system´s nonlinearities. The controller mitigates problems found in using traditional control methods for this problem. This controller is then compared against baselines set by a human driver and a hysteresis controller, and found to be a promising candidate for the control of systems of this kind.