Research on motion control of mobile robot with fuzzy PID arithmetic

Author

Qi, Tian ; Li, Cheng ; Kai, Wang ; Yan, Liu

Author_Institution

Second Artillery Eng. Coll., Xi´´an, China

fYear

2009

fDate

16-19 Aug. 2009

Abstract

Through analysis the kinematics model of Dongfeng Ilsoccer robot, considering time change, nonlinear and other characteristics of this system, a fuzzy PID. Parameter self-tuning PID control method combining fuzzy control with traditional PID control is present. To contrapose the problems of robot soccer motion system, the methods of dynamically regulate the three PID parameters (kp, ki, kd) based on fuzzy control is present. The improve of control effect is verified by experimental result.

Keywords

arithmetic; fuzzy control; mobile robots; motion control; multi-robot systems; nonlinear control systems; robot kinematics; self-adjusting systems; sport; three-term control; Dongfeng Ilsoccer robot kinematics model; fuzzy PID arithmetic; mobile robot soccer motion control system; parameter self-tuning PID control; time change; Arithmetic; Fuzzy control; Fuzzy systems; Instruments; Mobile robots; Motion control; Nonlinear control systems; Robot kinematics; Three-term control; Wheels; four wheeled omni-directional robot; fuzzy PID; mobile robot; motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-3863-1

Electronic_ISBN

978-1-4244-3864-8

Type

conf

DOI

10.1109/ICEMI.2009.5274284

Filename

5274284