Zhang, Jiayuan; Li, Hongbo; Liu, Heping Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function. (Chinese. English summary) Zbl 1340.68195 Chin. J. Eng. 37, No. 7, 955-964 (2015). Summary: A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly, the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation, a design method of constrained \(H_\infty\) controllers is developed via the piecewise fuzzy Lyapunov function approach, and the stability conditions of the closed-loop system are also derived. Finally, simulation results are given to illustrate the effectiveness of the proposed method. MSC: 68T40 Artificial intelligence for robotics 93C42 Fuzzy control/observation systems 93C85 Automated systems (robots, etc.) in control theory Keywords:mobile robots; trajectory; tracking; fuzzy control; Lyapunov function PDFBibTeX XMLCite \textit{J. Zhang} et al., Chin. J. Eng. 37, No. 7, 955--964 (2015; Zbl 1340.68195) Full Text: DOI