Fuzzy PID Based Trajectory Tracking Control of Mobile Robot and its Simulation in Simulink

Xu, Qing; Kan, Jiangming; Yan, Shengqi

doi:10.14257/ijca.2014.7.8.20

Cited by 38 publications

(14 citation statements)

References 9 publications

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“…In [4] a Linear Quadratic Controller (LQR) type based on the linearized model of the robot is proposed and simulation studies were conducted to determine its performance. A fuzzy PID controller is elaborated for trajectory tracking of a mobile robot in [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Control of mobile robot using fractional order PIλDμ controller

2019

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The ideal example for studying complex systems with non-holonomic constraints is mobile-wheeled robots. In this article, we study the problem of trajectory tracking of mobile robot unicycle type. To resolve this type of problem a fractional-order control technique is proposed. The main objective of this control method is to design a robust tracking controller to eliminate disturbances. The mathematical model of the mobile robot taken explicitly into account their dynamics is used to calculate the desired linear and angular velocities. To adjust the controller optimal parameters the particle swarm optimization (PSO) algorithm is utilized. The simulation results allowed us to demonstrate the efficiency and robustness of this technique on non-holonomic systems in the form of chained chains.

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Section: Introductionmentioning

confidence: 99%

Control of mobile robot using fractional order PIλDμ controller

2019

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“…The mobile robots have been researched to detect the obstacles and to avoid conflicts. The obstacle avoidance using artificial intelligence techniques is based on model, fuzzy logic, neural networks, genetic algorithms [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

The Autonomous Performance Improvement of Mobile Robot using Type-2 Fuzzy Self-Tuning PID Controller

Park

Kim²,

Choi³

et al. 2016

Advanced Science and Technology Letters

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Autonomous driving of mobile robot is important in various working environment. For its autonomous driving, mobile robot utilized ultrasonic sensor to detect obstacles and avoid them. Also, there has been researched on supplementing function of avoiding crash by using control methods based on adoption of intellectual system. This research has designed type-2 fuzzy selftuning PID controller which can enhance autonomous driving function of mobile robot under fixed obstacle environment. The fuzzy controller has utilized type-2 with multiple values and the fuzzy self-tuning PID controller adjusting gain value of PID controller is applied. In terms of function of type-2 fuzzy controller with 5 rules, it was confirmed through improvement in function of autonomous driving of mobile robot using Matlab/Simulink.

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Section: Introductionmentioning

confidence: 99%

“…Previous research has developed a fuzzy controller to set the PID parameters [2]. According to the feedback error, the parameters are applied to PID controller and improve the speed, adaptability, accuracy of the control system.…”

Section: Introductionmentioning

confidence: 99%

Type-2 Fuzzy PID Controller Design for Mobile Robot

Jie¹,

Choi²

2016

IJCA

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Fuzzy PID Based Trajectory Tracking Control of Mobile Robot and its Simulation in Simulink

Abstract: Abstract

Cited by 38 publications

References 9 publications

Control of mobile robot using fractional order PI<sup>λ</sup>D<sup>μ</sup> controller

Control of mobile robot using fractional order PI<sup>λ</sup>D<sup>μ</sup> controller

The Autonomous Performance Improvement of Mobile Robot using Type-2 Fuzzy Self-Tuning PID Controller

Type-2 Fuzzy PID Controller Design for Mobile Robot

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