Self-tuning Parameter Fuzzy PID Controller for Autonomous Differential Drive Mobile Robot

被引：0
|
作者：
Heikkinen, Jani
Minav, Tatiana [1 ]
Stotckaia, Anastasiia D. [2 ]
机构：
[1] Aalto Univ, Sch Engn, Dept Mech Engn, Helsinki, Finland
[2] St Petersburg Electrotech Univ LETI, Automat Control Syst Dept, St Petersburg, Russia
来源：
PROCEEDINGS OF 2017 XX IEEE INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND MEASUREMENTS (SCM) | 2017年
关键词：
fuzzy controller; mobile robot; self-tuning; PID controller;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
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.
引用
收藏
页码：382 / 385
页数：4
相关论文
共 50 条
  • [1] Application of Fuzzy Self-tuning PID Controller in Soccer Robot
    Wu, Yuzhi
    Wang, Haihua
    2008 IEEE INTERNATIONAL SYMPOSIUM ON KNOWLEDGE ACQUISITION AND MODELING WORKSHOP PROCEEDINGS, VOLS 1 AND 2, 2008, : 14 - +
  • [2] Self-Tuning Fuzzy PID Controller
    Paulusova, Jana
    Orlicky, Lukas
    Dubravska, Mria
    2013 INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC), 2013, : 304 - 308
  • [3] The parameter of Fuzzy self-tuning PID controller realized based on VHDL
    Wu, Qiong
    Ma, Shaohua
    Cai, Zhiyuan
    ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4, 2013, 397-400 : 1387 - 1390
  • [4] Fuzzy Self-tuning PID Controller in SENS
    Lan, Sun
    GREEN POWER, MATERIALS AND MANUFACTURING TECHNOLOGY AND APPLICATIONS II, 2012, 214 : 765 - 770
  • [5] Parameter Estimate PID Controller for Multi-position Control of Servo Drive System with Fuzzy Self-Tuning
    Visavapiwong, Pantawong
    Chookaew, Sasithorn
    Howimanporn, Suppachai
    INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2024, 13 (04): : 456 - 462
  • [6] Self-tuning Fuzzy PID Controller for Integrating Processes
    Simhachalam, Dharmana
    Mudi, Rajani K.
    2014 INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, ENERGY & COMMUNICATION (CIEC), 2014, : 51 - 55
  • [7] Self-tuning fuzzy PID controller and its application
    Wu, Zhen-Shun
    Yao, Jian-Jun
    Yue, Dong-Hai
    Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2004, 36 (11): : 1578 - 1580
  • [8] Research on the parameters self-tuning fuzzy PID controller
    Zhang, Yanhong
    Zheng, Zhongqiao
    Zhang, Jiansheng
    2009 SECOND INTERNATIONAL SYMPOSIUM ON KNOWLEDGE ACQUISITION AND MODELING: KAM 2009, VOL 3, 2009, : 77 - 80
  • [9] Fuzzy Self-tuning PID Controller for an Unmanned Helicopter
    Gong Xing
    Wang Lifeng
    Meng Zhijun
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 3635 - 3641
  • [10] The application of fuzzy self-tuning PID controller in SEHS
    Lan, S. (lan2wsun@126.com), 1600, Springer Verlag (219 LNEE):
12345