Control design for a mobile robot: a fuzzy LPV approach

Gain scheduled control is a very useful control technique for linear parameter-varying (LPV) and nonlinear systems. A disadvantage of gain-scheduled control is that it is not easy to design a controller that guarantees the global stability of the closed-loop system over the entire operating range from the theoretical point of view. Another disadvantage is that the interpolation increases in complexity as number of scheduling parameters increases. As an improvement, this paper presents a gain-scheduling control technique, in which fuzzy logic is used to construct a model representing an LPV mobile robot and to perform a control law. Linear matrix inequalities are then used to to design an fuzzy gain-scheduling controller that guarantees the global stability of the closed loop system over the entire operating range of the fuzzy model.