Abstract
The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-Tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-Tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.
| Original language | English |
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| Title of host publication | Proceedings of 2017 20th IEEE International Conference on Soft Computing and Measurements, SCM 2017 |
| Publisher | IEEE |
| Pages | 382-385 |
| Number of pages | 4 |
| ISBN (Electronic) | 9781538618103 |
| DOIs | |
| Publication status | Published - 6 Jul 2017 |
| MoE publication type | A4 Conference publication |
| Event | IEEE International Conference on Soft Computing and Measurements - St Petersburg, Russian Federation Duration: 24 May 2017 → 26 May 2017 Conference number: 20 |
Conference
| Conference | IEEE International Conference on Soft Computing and Measurements |
|---|---|
| Abbreviated title | SCM |
| Country/Territory | Russian Federation |
| City | St Petersburg |
| Period | 24/05/2017 → 26/05/2017 |
Keywords
- fuzzy controller
- mobile robot
- PID controller
- self-Tuning