Fuzzy adaptive PI control of omni-directional mobile robot

Author

Sheikhlar, Arash ; Fakharian, Ahamad ; Adhami-Mirhosseini, Aras

Author_Institution

Dept. of Electr., Islamic Azad Univ., Qazvin, Iran

fYear

2013

fDate

27-29 Aug. 2013

Firstpage

1

Lastpage

4

Abstract

In this paper a fuzzy adaptive PI controller is employed for the purpose of the mobile robots motion control. This structure can improve the performance of the closed-loop system in the presence of uncertainties and model nonlinearities. A simple dynamical model is proposed for small motions in position and altitude coordinates of the robot. A fuzzy logic algorithm is designed to adjust PI controller parameters. The fuzzy inference rules are established by using the tracking error and its derivative. Step response specifications are employed to show the performance of the proposed controller. Simulation results demonstrate that the fuzzy adaptive PI controller has effectively improved the closed-loop performance in comparison with the conventional PI controller.

Keywords

PI control; adaptive control; closed loop systems; control engineering computing; fuzzy control; fuzzy reasoning; mobile robots; motion control; position control; step response; uncertain systems; PI controller parameters; altitude coordinates; closed-loop performance; closed-loop system performance; controller performance; dynamical model; fuzzy adaptive PI controller; fuzzy inference rules; fuzzy logic algorithm; model nonlinearities; motion control; omni-directional mobile robot; position coordinates; step response specifications; tracking error; uncertainties; adaptive control; fuzzy PI control; motion control; omni-directional mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (IFSC), 2013 13th Iranian Conference on

Conference_Location

Qazvin

Print_ISBN

978-1-4799-1227-8

Type

conf

DOI

10.1109/IFSC.2013.6675667

Filename

6675667