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

Park, Sang Hyuk; Kim, Ki Woo; Choi, Won Hyuk; Jie, Min Seok; Kim, Young In

doi:10.14257/astl.2016.138.37

Cited by 4 publications

(1 citation statement)

References 4 publications

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“…The most well-known arguments supporting fuzzy controllers are the ability to cope with imprecise information in heuristic rule-based knowledge, the interpolative nature of the fuzzy controllers, and the flexibility in the definition of non-linear control laws [9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot with Differential Drive

Tiep¹,

Lee²,

Im³

et al. 2018

IJFIS

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In this paper, a design of a fuzzy-PID controller for path tracking of a mobile robot with differential drive is proposed. The fuzzy-PID controller consists of a PID controller and a fuzzy controller with two inputs and three outputs. When the system response has the error and the error rate, the fuzzy controller can tune the parameters of the PID controller. The model based on Lagrange dynamic approach for a robot with differential drive is described. The fuzzy-PID controller and the classical PID controller are compared by simulation. The path tracking of a mobile robot with differential drive was tested using MATLAB/Simulink. The simulation results show that the fuzzy-PID controller has a better performance than the classical PID controller. The proposed controller has better convergence rate in comparison with the classical PID controller for a mobile robot with any arbitrary initial state. It has the advantages of rapid respond, high stability, tracking accuracy and good anti-interference, so the fuzzy-PID controller is the appropriate choice for path tracking control of mobile robots with differential drive

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