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
收藏
页码：387 / 394
页数：8
相关论文
共 50 条
  • [31] Backstepping based trajectory tracking control of a four wheeled mobile robot
    Kumar, Umesh
    Sukavanam, Nagarajan
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2008, 5 (04): : 403 - 410
  • [32] Adaptive Fuzzy Control for Trajectory Tracking of Mobile Robot
    Liang, Yuming
    Xu, Lihong
    Wei, Ruihua
    Hu, Haigen
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4755 - 4760
  • [33] Mixed fuzzy sliding mode three-dimensional trajectory tracking control for a wheeled mobile robot
    Huang Yiqing
    Li Xiaofeng
    Wang Panpan
    Wei Lisheng
    Jiang Ming
    [J]. 2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2017, : 5 - 9
  • [34] Trajectory Tracking Control of Wheeled Mobile Robots via Fuzzy Approach
    Yu Hao
    Tang Gong-You
    Su Hao
    Tian Chun-Peng
    Zhang Jian
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8444 - 8449
  • [35] Speed control of an autonomous mobile robot - Comparison between a PID control and a control using fuzzy logic
    Silveira, P.E.
    De Souza Jr., R.
    Biazotto, V.M.
    [J]. Revista Brasileira de Ciencias Mecanicas/Journal of the Brazilian Society of Mechanical Sciences, 2002, 24 (02): : 127 - 129
  • [36] Applications of Taguchi method to PID control for path tracking of a wheeled mobile robot
    Lee, Chin-Tan
    Su, Bo-Rui
    Chang, Chih-Hao
    Hsu, Tai-Yang
    Lee, Win-Der
    [J]. PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ), 2018, : 453 - 456
  • [37] Adaptive robust fuzzy control for path tracking of a wheeled mobile robot
    Giap, Nguyen Hoang
    Shin, Jin-Ho
    Kim, Won-Ho
    [J]. ARTIFICIAL LIFE AND ROBOTICS, 2008, 13 (01) : 134 - 138
  • [38] Observer based trajectory tracking for a wheeled mobile robot
    Rodriguez-Cortes, Hugo
    Aranda-Bricaire, Eduardo
    [J]. 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 3407 - 3412
  • [39] Trajectory Tracking of a Two-Wheeled Mobile Robot Using Backstepping and Nonlinear PID Controller
    Fufa, Lencho Duguma
    Ayenew, Endalew
    [J]. ARTIFICIAL INTELLIGENCE AND DIGITALIZATION FOR SUSTAINABLE DEVELOPMENT, ICAST 2022, 2023, 455 : 290 - 304
  • [40] TS-Fuzzy Predictor Observer Design for Trajectory Tracking of Wheeled Mobile Robot
    Guechi, El-Hadi
    Abellard, Alexandre
    Abellard, Patrick
    [J]. IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2011,
12345