A Performance Comparison of PID and Fuzzy Logic Control Methods for Trajectory Tracking of Wheeled Mobile Robot

被引：0

作者：

Noordin, Aminurrashid ^{[1
]}

Ab Rahman, Azhan ^{[1
]}

Ismail, Nur Afifah ^{[1
]}

Salim, Mohd Azli ^{[2
]}

Saad, Adzni Md. ^{[2
]}

Masripan, Nor Azmmi ^{[2
]}

Hamid, Nurfaizey Abdul ^{[2
]}

Wasbari, Faizil ^{[2
]}

Akop, Mohd Zaid ^{[2
]}

Khalifa, Mustafa Saad ^{[3
]}

机构：

[1] Univ Tekn Malaysia Melaka, Fac Elect & Elect Engn Technol, Melaka 76100, Malaysia

[2] Univ Tekn Malaysia Melaka, Fac Mech Engn, Melaka 76100, Malaysia

[3] Coll Elect Technol Bani Walid, Tripoli Rd, Bani Walid 38645, Libya

来源：

INTERNATIONAL JOURNAL OF NANOELECTRONICS AND MATERIALS | 2021年 / 14卷

关键词：

Trajectory tracking; wheeled mobile robot; Fuzzy logic; PID; kinematic model;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Trajectory tracking involves with the geometric path and the timing law of a two-wheeled mobile robot (WMR). Due to its unlimited work area, mobile robots have a broad spectrum of applications. Trajectory tracking feature in a WMR is designed to enable the robot to follow a reference path. To further analyse this feature, this paper discusses a two-wheeled mobile robot mathematical model using a kinematic model and then compares the trajectory performance of two controllers; namely PID and Fuzzy Logic. The presented controller was designed using MATLAB/Simulink software. The observation on the controllers performance is by Integral Square Error (ISE) where Fuzzy Logic Controller was found to increase the performance of the PID controller by 50%. The result indicated that Fuzzy Logic Controller performs better than the PID controller because of its ability to minimize the error produced during the WMR trajectory tracking.

引用

页码：387 / 394

页数：8

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