Self-Tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

Jani Heikkinen, Tatiana Minav, Anastasiia D. Stotckaia

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

11 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of 2017 20th IEEE International Conference on Soft Computing and Measurements, SCM 2017
PublisherIEEE
Pages382-385
Number of pages4
ISBN (Electronic)9781538618103
DOIs
Publication statusPublished - 6 Jul 2017
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Soft Computing and Measurements - St Petersburg, Russian Federation
Duration: 24 May 201726 May 2017
Conference number: 20

Conference

ConferenceIEEE International Conference on Soft Computing and Measurements
Abbreviated titleSCM
Country/TerritoryRussian Federation
CitySt Petersburg
Period24/05/201726/05/2017

Keywords

  • fuzzy controller
  • mobile robot
  • PID controller
  • self-Tuning

Fingerprint

Dive into the research topics of 'Self-Tuning parameter fuzzy PID controller for autonomous differential drive mobile robot'. Together they form a unique fingerprint.

Cite this