A Theoretical and Experimental Approach of Fuzzy Adaptive Motion Control for Wheeled Autonomous Nonholonomic Vehicles

Table 1

Controller rules.

No. Rules	𝐸𝑥	𝐸𝑦	𝐸𝜙	𝐾𝑥	𝐾𝑦	𝐾𝜙
1	S	S	S+	S	S	S
2	S	M	S+	S	M	S
3	S	H	S+	M	H	S
4	M	S	S+	M	S	S
5	M	M	S+	M	M	S
6	M	H	S+	M	H	S
7	H	S	S+	H	M	S
8	H	M	S+	H	M	S
9	H	H	S+	H	H	S
10	S	S	M+	M	M	M
11	S	M	M+	M	M	M
12	S	H	M+	M	H	M
13	M	S	M+	M	M	M
14	M	M	M+	M	M	M
15	M	H	M+	M	H	M
16	H	S	M+	H	M	M
17	H	M	M+	H	M	M
18	H	H	M+	H	H	M
19	S	S	OPP	M	M	H
20	S	M	OPP	M	M	H
21	S	H	OPP	M	H	H
22	M	S	OPP	M	M	H
23	M	M	OPP	M	M	H
24	M	H	OPP	M	H	H
25	H	S	OPP	H	M	H
26	H	M	OPP	H	M	H
27	H	H	OPP	H	H	H
28	S	S	M−	M	M	M
29	S	M	M−	M	M	M
30	S	H	M−	M	H	M
31	M	S	M−	M	M	M
32	M	M	M−	M	M	M
33	M	H	M−	M	H	M
34	H	S	M−	H	M	M
35	H	M	M−	H	M	M
36	H	H	M−	H	H	M
37	S	S	S−	S	S	S
38	S	M	S−	S	M	S
39	S	H	S−	M	H	S
40	M	S	S−	M	S	S
41	M	M	S−	M	M	S
42	M	H	S−	M	H	S
43	H	S	S−	H	M	S
44	H	H	S−	H	H	S
45	H	H	S−	H	H	S