This paper focuses on the 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 the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

中文翻译：

---

用于非完整移动机器人的 Takagi-Sugeno 模糊控制器和滑模控制器

本文重点研究非完整轮式移动机器人。我们已经提出了开发控制器的方案。已经开发了两种控制器。第一个涉及运动学行为，而第二个涉及移动机器人的动态行为。对于运动控制器，我们使用了 Takagi-Sugeno 模糊系统来克服模型中存在的非线性，而对于第二个控制器，我们使用了滑模方法。滑动面的结构与比例积分控制器相同。基于Lyapunov方法证明了系统的稳定性。仿真结果表明了所提出的控制律的有效性。