Fuzzy Variable Order Extremum-Seeking Controller Design for Mobile Robots

Abstract

In this paper, a fuzzy variable order extremumseeking control (FVO-ESC) system for a mobile robot are designed. Fractional order controllers have advantages in the control of nonlinear systems such as a wider area of stability and performance enhancement in the presence of noise. The main proposal of the paper is to increase the performance of the fractional order controller. So, a variable order controller was designed for a mobile robot, and a fuzzy logic controller was designed according to user experiences to tune the controller order. The proposed FVO-ESC approach has been validated the effects on nonlinear systems such as the mobile robot system. It has been put forward in the preliminary investigation that the order of the fractional order ESC controller affects the overshoot and time to reach the target. The results suggested that a variable-level controller would have better performance. The results show that the proposed FVO-ESC control approach provides optimum performance for mobile robot systems.