Advanced fuzzy logic control for a four-wheeled mecanum robot in Simscape multibody

Abstract

 This paper presents an advanced control strategy for a four-wheeled Mecanum robot using Type-1 fuzzy logic within MATLAB's Simscape Multibody simulation. The model combines kinematic and dynamic representations to accurately simulate wheel-ground interactions. A fuzzy controller with 25 inference rules and triangular membership functions adjusts translational and rotational velocities based on positional and orientational errors. Simulations evaluate the system under various conditions, including external disturbances and dynamic environments. Results demonstrate superior trajectory tracking, motion smoothness, and adaptability compared to traditional PID controllers, emphasising the potential of fuzzy logic for autonomous navigation in unstructured settings.