Table 2.
Fuzzy control rules for angular speed. The fuzzy labels in this table correspond to the fuzzy sets shown in Figure 10. Furthermore, Figure 11 shows the fuzzy set for linear speed used in Table 3 whereas fuzzy sets for the output variables are illustrated in Figure 12.
| Offset d | Negative Big | Negative Small | Zero | Positive Small | Positive Big | |
|---|---|---|---|---|---|---|
| Angle α | ||||||
| Negative Big | Positive Big | Positive Big | Positive Big | Positive Small | Zero | |
| Negative Small | Positive Big | Positive Small | Positive Small | Zero | Negative Small | |
| Zero | Positive Big | Positive Small | Zero | Negative Small | Negative Big | |
| Positive Small | Positive Small | Zero | Negative Small | Negative Small | Negative Big | |
| Positive Big | Zero | Negative Small | Negative Big | Negative Big | Negative Big | |