Motion Control of Omnidirectional Mobile Robot Based on Fuzzy PID

被引：0
|
作者：
Jia, Qian [1 ]
Chang, Chao [2 ]
Liu, Shuqing [1 ]
Zhang, Luhao [2 ]
Zhang, Sidi [1 ]
机构：
[1] Nanjing Inst Technol, Ind Ctr, Nanjing 211100, Peoples R China
[2] Nanjing Inst Technol, Postgrad Dept, Nanjing 211100, Peoples R China
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
关键词：
Mecanum wheel; Omnidirectional mobile robot; Fuzzy PID;
D O I：
10.1109/ccdc.2019.8833047
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The motion model of omnidirectional mobile robot is created, the fuzzy PID control method is designed, and the motion control parameters are adjusted online. Matlab is used to simulate the fuzzy PID control effect of the robot, and the actual test of the fuzzy PID controller on the robot path tracking control effect. Computer simulation and actual test results show that in the path tracking control of the robot, the fuzzy PID controller has faster response, smaller overshoot, less fluctuation, stable change and stronger system stability than the conventional PID controller.
引用
收藏
页码：5149 / 5154
页数：6
相关论文
共 50 条
  • [1] Motion Control of Omnidirectional Mobile Platform based on Fuzzy PID
    PENG Jiang-tao
    GAO Peng-fei
    YANG Dong
    AKBOTA Kalizhanova
    MENG Hua-lin
    [J]. International Journal of Plant Engineering and Management, 2017, 22 (03) : 150 - 158
  • [2] Motion control of an omnidirectional mobile robot
    Li, Xiang
    Zell, Andreas
    [J]. ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1, 2007, : 125 - 132
  • [3] Motion Control of Robot Based on Fuzzy Adaptive PID Algorithm
    Lei Yanmin
    Du Limin
    Feng Zhibin
    [J]. 2013 3RD INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND NETWORK TECHNOLOGY (ICCSNT), 2013, : 1310 - 1313
  • [4] Embedded System for Motion Control of an Omnidirectional Mobile Robot
    Al Mamun, MD. Abdullah
    Nasir, Mohammad Tariq
    Khayyat, Ahmad
    [J]. IEEE ACCESS, 2018, 6 : 1 - 18
  • [5] Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot
    Alshorman, Ahmad M.
    Alshorman, Omar
    Irfan, Muhammad
    Glowacz, Adam
    Muhammad, Fazal
    Caesarendra, Wahyu
    [J]. MACHINES, 2020, 8 (03)
  • [6] FUZZY STEERING CONTROL OF THREE-WHEELS BASED OMNIDIRECTIONAL MOBILE ROBOT
    Park, Susan
    Ryoo, Young-Jae
    Im, Dae-Yeong
    [J]. 2016 INTERNATIONAL CONFERENCE ON FUZZY THEORY AND ITS APPLICATIONS (IFUZZY), 2016,
  • [7] Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot
    Nacer Hacene
    Boubekeur Mendil
    [J]. Machine Intelligence Research, 2019, 16 (02) : 163 - 185
  • [8] Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot
    Hacene, Nacer
    Mendil, Boubekeur
    [J]. INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING, 2019, 16 (02) : 163 - 185
  • [9] Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot
    Nacer Hacene
    Boubekeur Mendil
    [J]. International Journal of Automation and Computing, 2019, 16 : 163 - 185
  • [10] Robot Arm Motion Control Based on Trapezoidal Fuzzy PID Algorithm
    Ji, Yanli
    Sun, Yanlian
    Wen, Fuan
    [J]. BASIC & CLINICAL PHARMACOLOGY & TOXICOLOGY, 2020, 126 : 193 - 194
12345