## A takagi-sugeno type controller for mobile robot navigation

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

**Pages:** 29-34

**ISBN:** 9789604741786

**Abstract:**

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 spaces 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.

**Source:** Scopus

## A Takagi-Sugeno Type Controller for Mobile Robot Navigation

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

**Editors: **Grigoriu, M., Mladenov, V., Bulucea, C.A., Martin, O. and Mastorakis, N.

**Pages:** 29-35

**Publisher:** WSEAS Press

**Place of Publication:** US

**ISBN:** 978-960-474-179-3

**Abstract:**

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 spaces 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.

http://www.wseas.us/conferences/2010/bucharest/ci/index.html

**Source:** Manual

**Preferred by: **Mihai Dupac