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Vol: 53(67) No: 4 / December 2008 Fuzzy Control of Tricycle Wheeled Mobile Robots Based on Sensitivity Analysis Stefan Preitl Department of Automation and Applied Informatics, “Politehnica” University of Timisoara, Bd. V. Parvan No. 2, RO-300223 Timisoara, Romania, phone: (+40) 256-40-3224, e-mail: stefan.preitl@aut.upt.ro, web: http://www.aut.upt.ro/~spreitl/ Radu-Emil Precup Department of Automation and Applied Informatics, “Politehnica” University of Timisoara, Bd. V. Parvan No. 2, RO-300223 Timisoara, Romania, phone: (+40) 256-40-3226, e-mail: radu.precup@aut.upt.ro, web: http://www.aut.upt.ro/~rprecup/ József K. Tar Institute of Intelligent Engineering Systems, John von Neumann Faculty of Informatics, Budapest Tech, Bécsi út 96/b, 1034 Budapest, Hungary, phone: (36-1) 666-5538, e-mail: tar.jozsef@nik.bmf.hu, web: http://www.bmf.hu Péter Korondi Department of Automation and Applied Informatics, Budapest University of Technology and Economics, Goldmann György tér, 3 – 1111 Budapest, Hungary, e-mail: korondi@elektro.get.bme.hu Igor Škrjanc Laboratory of Modelling, Simulation and Control, University of Ljubljana, Faculty of Electrical Engineering, Tržaška 25, 1000 Ljubljana, Slovenia, phone: +386 (0)1 4768-311, e-mail: igor.skrjanc@fe.uni-lj.si, web: http://msc.fe.uni-lj.si/Staff.asp?person7 Sašo Blažič Laboratory of Modelling, Simulation and Control, University of Ljubljana, Faculty of Electrical Engineering, Tržaška 25, 1000 Ljubljana, Slovenia, phone: +386 (0)1 4768-763, e-mail: saso.blazic@fe.uni-lj.si, web: http://msc.fe.uni-lj.si/Staff.asp?person15 Keywords: cascade control system, sensitivity analysis, tricycle wheeled mobile robots Abstract The paper deals with the design of fuzzy control systems for a class of tricycle wheeled mobile robots with two degrees of freedom. 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