Type-2 Fuzzy control for stabilizing two-wheeled mobile robot under parameter uncertainties

Abstract Stabilizing the inherently unstable and underactuated nonlinear dynamics of a Two-wheeled Mobile Robot (2WMR) presents significant challenges, particularly under parameter uncertainties. This study proposes a Type-2 Fuzzy Logic Controller (T2-FLC) to address these challenges effectively. The core innovation lies in leveraging the Footprint of Uncertainty (FOU) within membership functions to enhance the system’s adaptability and robustness against dynamic variations. The controller’s performance was evaluated through nonlinear dynamic simulations under multiple critical scenarios, including nominal operating conditions, external disturbances, and significant parameter variations. Simulation results demonstrate that the proposed T2-FLC achieves effective stabilization and reliable balance maintenance across all tested conditions. The controller exhibits consistent performance when subjected to substantial changes in system parameters and dynamic disturbances, confirming its inherent robustness. This approach provides a practical and adaptive solution for stabilizing 2WMR systems operating under uncertain conditions, highlighting the viability of Type-2 fuzzy systems in handling complex underactuated platforms.