Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

<div>Evolution of the error <i>x</i><sub><i>r</i>2</sub> − <i>x</i><sub>2</sub>.</div>

Mathematical Problems in Engineering

Figure 13: Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot 