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Title: Fuzzy model reference control of wheeled mobile robots
Authors: Lam, HK
Lee, TH
Leung, FHF 
Tam, PKS
Keywords: Closed loop control systems
Computer simulation
Control system analysis
Fuzzy control
Fuzzy sets
Nonlinear control systems
System stability
Issue Date: 2001
Publisher: IEEE
Source: IECON'01 : the 27th annual conference of the IEEE Industrial Electronics Society : Denver, Colorado, USA, Nov 29 (Thu) to Dec 2 (Sun) 2001, p. 570-573 How to cite?
Abstract: This paper presents the control of a two-wheeled mobile robot (WMR) using a fuzzy model approach. A fuzzy controller will be designed based on a TS fuzzy plant model of the WMR. This proposed controller is capable of driving the system states of the WMR to follow those of a stable reference fuzzy model with the stability of the closed-loop system guaranteed. Simulation results will be presented to illustrate the merits of the proposed fuzzy controller.
ISBN: 0-7803-7108-9
Rights: © 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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