For citations:

Bobyr M.V., Kulabuhov S.A., Yakushev A.S. Hierarchical Fuzzy Control System for a Mobile Robot Angular Orientation. Part II. Mekhatronika, Avtomatizatsiya, Upravlenie. 2016;17(8):531-535. (In Russ.) https://doi.org/10.17587/mau.17.531-535