Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to contr...

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Bibliographic Details
Published in:2017 XX IEEE International Conference on Soft Computing and Measurements (SCM) pp. 382 - 385
Main Authors: Heikkinen, Jani, Minav, Tatiana, Stotckaia, Anastasiia D.
Format: Conference Proceeding
Language:English
Published: IEEE 01-05-2017
Subjects:
DC motors
fuzzy controller
Mathematical model
mobile robot
Mobile robots
PID controller
Robot kinematics
self-tuning
Torque
Wheels
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Summary:The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.
DOI:10.1109/SCM.2017.7970592