Discrete-time fuzzy logic control of a mobile robot with an onboard manipulator

A systematic approach for modeling and Cartesian motion control of a mobile vehicle with on-board arm is presented. A fuzzy logic controller (FLC) which feedback linearizes the composite system after the incorporation of non-holonomic constraints is considered The feedback linearization provides an inner loop that accounts for possible motion of the on-board arm. A novel approach to adapt the fuzzy system parameters is attempted and using this adaptive fuzzy logic controller the uniform ultimate boundedness of the closed-loop signals is presented. Certainty equivalence is not used and regression matrix is not required. The result is a model-free universal fuzzy controller that works for any system in the given class of systems