Abstrakti
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.
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | Proceedings of 2017 20th IEEE International Conference on Soft Computing and Measurements, SCM 2017 |
| Kustantaja | IEEE |
| Sivut | 382-385 |
| Sivumäärä | 4 |
| ISBN (elektroninen) | 9781538618103 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 6 heinäk. 2017 |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | IEEE International Conference on Soft Computing and Measurements - St Petersburg, Venäjä Kesto: 24 toukok. 2017 → 26 toukok. 2017 Konferenssinumero: 20 |
Conference
| Conference | IEEE International Conference on Soft Computing and Measurements |
|---|---|
| Lyhennettä | SCM |
| Maa/Alue | Venäjä |
| Kaupunki | St Petersburg |
| Ajanjakso | 24/05/2017 → 26/05/2017 |