Fuzzy logic approaches for wheeled skid-steer vehicles

This paper is concerned with a skid-steer wheeled vehicle which has been modelled using a hybrid modelling (HM) approach and in particular a Takagi-Sugeno (TS) fuzzy logic (FL) framework which results in an effective representation of the complex nonlinear system. The vehicle used here has four permanent magnet d.c. motors for which the analytical steady-state equations are equivalent to a first order TS fuzzy logic model. The vehicle model is formulated with three fuzzy logic TS models. A methodology is proposed which allows the identification of the TS models from experimental data within the HM framework.