Fuzzy Logic Tank Controller Design

I need a skilled programmer with experience in fuzzy logic design to create a controller for a tank. The controller should be able to smoothly bring the tank to a halt in front of a wall, using different sets of membership functions.

So, I need to add to my application that the vehicle stops gently, i.e. it moves slowly and consistently, brakes in front of the wall, and aggressively, i.e. it drives fast and brakes impulsively.