Controllers Design based on Takagi-Sugeno Fuzzy Systems and Sliding Mode for a Non-Holonomic Mobile robot

Controllers Design based on Takagi-Sugeno Fuzzy Systems and Sliding Mode for a Non-Holonomic Mobile robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Controllers Design based on Takagi-Sugeno Fuzzy Systems and Sliding Mode for a Non-Holonomic Mobile robot hafedh Abid This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-450848/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper is interesting to a nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior while the second relates to the dynamic behavior of the mobile robot. For the Kinematic controller, we have used a Takagi-Sugeno fuzzy system to overcome the nonlinearities present in model whereas for the second controller we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of system has been proved based on Lyapunov approach. The simulation results show the efficiency of the proposed control laws. Theoretical Computer Science Nonholonomic mobile robot Kinematic model dynamic model Lyapunov approach sliding mode controller T-S fuzzy system. Full Text Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-450848","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":38639100,"identity":"e93417ac-c7de-4b21-b294-8571b1fb7241","order_by":0,"name":"hafedh Abid","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA5ElEQVRIiWNgGAWjYDACCcYGaQYGOQaGG8wHQFwZYrUYA7WwJYC4PERoYWCAauExAPEJa+Gf3dx4u6DGQI7vds/nVzdqLHgY2A8f3YDXkjsHm61nHDMwlrxzdpt1zjGgw3jS0m7gteZGYps0D9ufxA03crcZ57ABtUjwmOHVIg/W8s+gfsONnGfGOf+I0GIA0sLbZpBgcCOH+XFuGxFaDEF+4e0zMJx5I82MObdPgoeNkF/kbrc/vM3zzUCe70by48853+rk+NkPH8PvfSTAJgEmiVUOAswfSFE9CkbBKBgFIwcAABv/Si0OpKjYAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0003-3755-6259","institution":"ENIS","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"hafedh","middleName":"","lastName":"Abid","suffix":""}],"badges":[],"createdAt":"2021-04-22 12:55:54","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-450848/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-450848/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[],"financialInterests":"","formattedTitle":"\u003cp\u003eControllers Design based on Takagi-Sugeno Fuzzy Systems and Sliding Mode for a Non-Holonomic Mobile robot\u003c/p\u003e","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-450848/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Nonholonomic mobile robot, Kinematic model, dynamic model, Lyapunov approach, , sliding mode controller, T-S fuzzy system.","lastPublishedDoi":"10.21203/rs.3.rs-450848/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-450848/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper is interesting to a nonholonomic wheeled mobile robot. 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