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Unified T-S fuzzy-relaxed control barrier function framework for unicycle Mobile robot safe trajectory tracking

Ali Rahmanian1, Mohammad Hassan Asemani1

  • 1School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran.

ISA Transactions
|April 9, 2026
PubMed
Abstract

Keywords:
Obstacle avoidanceRelaxed control barrier functionSafety-critical systemsTakagi-sugeno fuzzy controlTrajectory trackingUnicycle mobile robot

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