Abstract
This paper presents stability analysis of reactive navigation with fuzzy perception and fuzzy control, applied to the nonholonomic mobile robot ROMEO-3R. It is a complex problem with several nonlinear components involved. This problem is used as a test-bed for comparison of the practical applicability of different fuzzy stability analysis techniques. Thus, Piecewise Quadratic Lyapunov functions and Input–output methods (namely, Conicity criterion) are directly compared when applied to a dynamic Takagi–Sugeno fuzzy system.
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