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In this paper, we focus on the controller design problem for a trailer type mobile robot (TTMR) system. Besides, we also consider the external disturbance and the perturbation for the practical stochastic systems. At first, we transform the perturbed TTMR stochastic system into Takagi-Sugeno (T-S) fuzzy model. Then, we will develop a method to find the discrete fuzzy controllers for minimizing control input energy with the output variance constraints. Moreover, the present control design problem can be reduced to linear matrix inequality (LMI) problem.