Table 1.
The fuzzy rule bases for the controller.
Angle (φ) | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
NB | NM | NS | Z | PS | PM | PB | |||||||||
V R | V L | V R | V L | V R | V L | V R | V L | V R | V L | V R | V L | V R | V L | ||
Distance (D) | VS | B | Z | M | Z | F | Z | S | F | Z | F | Z | F | Z | M |
S | VB | Z | B | Z | M | Z | S | F | Z | M | Z | B | Z | VB | |
M | VB | Z | VB | Z | B | Z | M | M | Z | B | Z | VB | Z | VB | |
B | VB | Z | VB | Z | VB | Z | B | B | Z | VB | Z | VB | Z | VB | |
VB | VB | Z | VB | Z | VB | Z | VB | VB | Z | VB | Z | VB | Z | VB |