An interval type-2 fuzzy LQR positioning controller for wheeled mobile robot

Abstract

An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot. MATLAB simulations have proved the effectiveness of the proposed controller.