Design of a Nonlinear Boundary Fuzzy Suction Controller Using less Input Energy

In this part, a new fuzzy suction controller (NFSC), based on the first type of fuzzy modeling, is proposed using its linguistic rules to design a controller like a suction controller. According to new interpreting switching conditions of a suction controller, three rules are derived to design the linguistic rules of a NFSC such that it reduces chattering and expends less energy than a suction controller does. A design procedure summarizes the NFSC design. In addition, the linguistic rules are designed to have sliding sectors to control a mobile robot for tracking FPE gradient directions with obstacle avoidance. It´s the demonstration of motion control in robot navigation using the proposed FPE discussed in Part I of this paper. The simulation includes the robot starting outside or inside a U-shaped obstacle. The proposed NFSC provides a flexible way for adjusting the controller functions using linguistic rules based on the first type of fuzzy modeling.