Title :
Using a fuzzy PID controller for the path following of a car-like mobile robot
Author :
Talebi Abatari, Hassan ; Dehghani Tafti, Abdolreza
Author_Institution :
Dept. of Mechatron. Eng., Islamic Azad Univ., Kurdistan, Iran
Abstract :
In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each parameters of PID controller. It is tested by simulation on kinematics model of a car-like mobile robot using MATLAB robotic toolbox. Simulation results show that the controller has a better performance than standard PID controller.
Keywords :
automobiles; control system synthesis; fuzzy control; mathematics computing; mobile robots; path planning; robot kinematics; three-term control; MATLAB robotic toolbox; PID controller parameter tuning; car-like mobile robot; convergence rate; fuzzy PID controller; fuzzy logic; kinematics model; path following control system; standard PID controller; Mobile robots; Niobium; Mobile robot; fuzzy PID controller; path following;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on
Conference_Location :
Tehran
Print_ISBN :
978-1-4673-5809-5
DOI :
10.1109/ICRoM.2013.6510103
