Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars

In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman´s filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A fuzzy closed loop motion control for the follower, where the asymptotical stability of the motion errors is based on the properties of the Fuzzy maps, assures the stabilization of the follower car in the circular planned motion and the reaching of the target car with good dynamical performances.