Path controller design of a mobile robot based on T-S fuzzy sliding control

This paper proposed the path tracking design of a mobile robot based on Takagi-Sugeno (T-S) fuzzy modeling method and sliding mode control. The T-S fuzzy model is utilized to represent the equation of motion of the mobile robot, and the concept of parallel distributed compensation (PDC) is applied to design the T-S fuzzy controller. The stability of the system is guaranteed by linear matrix inequalities (LMIs) from Lyapunov approach. The sliding mode control (SMC) preserves the advantages of quick response and low noise. Therefore, the T-S fuzzy control combine the SMC enable a mobile robot system to possess better robustness.