# A fuzzy controller with various t-norms applied in robot navigation

This source preferred by Mihai Dupac

**Authors: **Iancu, I., Colhon, M. and Dupac, M.

http://www.worldses.org/journals/control/control-2010.htm

**Journal:** WSEAS Transactions on Systems and Control

**Volume:** 5

**Pages:** 882-891

**ISSN:** 1991-8763

Fuzzy set theory and fuzzy logic are the convenient tools for handling uncertain, imprecise, or unmodeled data in intelligent decision-making systems. The utility of fuzzy logic in system controls domain is presented in the context of a mobile robot navigation control application. The Takagi-Sugeno controller is a fuzzy model capable of approximating a wide class of nonlinear systems by decomposing the input space into several partial fuzzy subspaces and representing the output space with a linear equation. The output control action is obtained from the rule-base and a set of crisp inputs. A Takagi-Sugeno type Fuzzy Logic Controller (FLC), to work with crisp data, intervals and fuzzy sets inputs, is proposed in connection with a mobile robot navigation model. The model also works with a set of t-norms, and for any t-norm an output value is obtained.

Finally, these outputs are combined to obtain the overall output of the system.

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**Authors: **Iancu, I., Colhon, M. and Dupac, M.

**Journal:** WSEAS Transactions on Systems and Control

**Volume:** 5

**Issue:** 11

**Pages:** 882-891

**ISSN:** 1991-8763

Fuzzy set theory and fuzzy logic are the convenient tools for handling uncertain, imprecise, or unmodeled data in intelligent decision-making systems. The utility of fuzzy logic in system controls domain is presented in the context of a mobile robot navigation control application. The Takagi-Sugeno controller is a fuzzy model capable of approximating a wide class of nonlinear systems by decomposing the input space into several partial fuzzy subspaces and representing the output space with a linear equation. The output control action is obtained from the rule-base and a set of crisp inputs. A Takagi-Sugeno type Fuzzy Logic Controller (FLC), to work with crisp data, intervals and fuzzy sets inputs, is proposed in connection with a mobile robot navigation model. The model also works with a set of t-norms, and for any t-norm an output value is obtained. Finally, these outputs are combined to obtain the overall output of the system.