The Fuzzy Logic Tracking Controller

The purpose of the FLC is to find a control input t such that the current velocity vector V is able to reach the velocity vector Vc this is denoted as (5.8)  

The inputs variables of the FLC correspond to the velocity errors obtained of (5.6) (denoted as ev and ew linear and angular velocity errors respectively), and 2 outputs variables, the driving and rotational input torques t (denoted by F and N respectively). 

The initial membership functions (MF) are defined by 1 triangular and 2 trapezoidal functions for each variable involved. In future work the shape of the membership functions will be selected by the algorithm as part of the optimization. 

The rule set of the FLC contain 9 rules, which govern the input-output relationship of the FLC and this adopts the Mamdani-style inference engine. We use the center of gravity method to realize defuzzification procedure. In Table 5.3, we present the rule set whose format is established as follows  

3 Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic 

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