Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips

Table 1

Numerical comparison between the proposed controller and T-S fuzzy type-I controller.

	Trifolium		Elliptical
	Tracking error (m)	Velocity (m/s)	Tracking error (m)	Velocity (m/s)
Proposed controller	Max = 0.03	No oscillation	Max = 0.03	No oscillation
Fuzzy type-I controller	Max = 0.0806	Oscillation	Max = 0.0807	Oscillation