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An H∞ switching T-S fuzzy controller design for position control of two-wheeled mobile robots

This paper addresses the problem of fuzzy controller design for position control of two-wheeled mobile robots subject to unknown kinematic disturbances. Because the conventional T-S fuzzy models are not applicable, the robot is modeled with several subsystems each of which represented by a set of T-S fuzzy rules. With the use of a common quadratic Lyapunov function, LMI based H∞ switching control synthesis conditions, under arbitrary switching law for such robots are obtained. Moreover, to achieve better closed-loop performance, maximum decay-rate are also considered and LMI conditions are given. Simulation results are also provided to show the effectiveness of the proposed controller.