Motion Control of Wheeled Mobile Robot Based on Data Driven

Abstract

Aiming at the kinematics model of wheeled mobile robot, a data-driven T-S fuzzy predictive control method is proposed.. This method uses system identification to obtain the T-S fuzzy model of the car, i. e. the linear representation of the car's non-linear system. At the same time, the predictive control method can also be applied to the control when the system is constrained by input and output. The simulation results verify the effectiveness of the proposed generalized prediction method of T-S fuzzy model.