Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

Autor:	Muhammad Safwan, Valiuddin, Muhammad Asif
Jazyk:	angličtina
Rok vydání:	2016
Předmět:	PID Controller Fuzzy Logic Kinematic Robot Trajectory Tracking Technology Engineering (General). Civil engineering (General) TA1-2040 Science
Zdroj:	Mehran University Research Journal of Engineering and Technology, Vol 35, Iss 2, Pp 161-170 (2016)
Druh dokumentu:	article
ISSN:	0254-7821 2413-7219
Popis:	A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative) is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/309fb276126c4ae69ce6572baea5912e Zobrazit plný text záznamu View record in DOAJ