An Advanced Fuzzy Immune PID-type Tracking Controller of a Nonholonomic Mobile Robot

Based on the dynamics nonlinearities of a nonholonomic mobile robot, an advanced fuzzy immune PED-type control algorithm is proposed for robot path tracking. The novel tracking controller combines fuzzy control, immune feedback mechanism of organism with conventional PID control. In the algorithm, fuzzy immune PID controller is improved through the mixed connection of conventional PID and P-type immunity feedback controller. So some parameters can point to their control performance individually. Meanwhile, the parameters of the controller are optimized by immune genetic algorithm. The effectiveness of the proposed method is demonstrated by a series of simulation and comparison studies. The simulation results show that advanced fuzzy immune PID algorithm has better tracking precision, stronger smoothness and superior control performance than ordinary fuzzy immune PID and conventional PID controllers. In addition, the given algorithm can overcome the influence of modeling error and linear limitation.