원문정보
초록
영어
The precise control of mobile robot is an important issue in robotics field. In this paper, the motion model of mobile robot is established by mechanism analysis. Then, a fuzzy PID controller is designed for trajectory tracking of mobile robot. The controller consists of a PID controller and a fuzzy inference unit with two inputs and three outputs to tune the parameters of PID controller according to the error and error rate. Finally, the model of a four-wheel mobile robot, fuzzy PID and traditional PID controller are all simulated in Simulink. Simulation experiments are reached in different conditions. The result shows that the mobile robot with the fuzzy PID controller can track the desired trail by about 3 seconds in advance and the overshoot of the system will decrease by 40 percent, comparing to the mobile robot with the traditional PID controller. The advantages of fuzzy PID controller for trajectory tracking control of mobile robot are major in its rapidity, stability, anti-interference and tracking precision.
목차
1. Introduction
2. Kinematics Model of Mobile Robots
3. Design of Fuzzy PID Controller
3.1. Structure of the Fuzzy self-tuning PID Controller
3.2. Membership Design of Fuzzy Controller
3.3. Design of Fuzzy Rules
3.4. Defuzzification
4. Simulink Model
4.1. Control Objective Modeling
4.2. Trajectory Modeling
4.3. PID based Mobile Robot Modeling
4.4. Fuzzy PID based Mobile Robot Modeling
5. Analysis of Simulation and Results in Simulink
5.1. Different Initial Positions
5.2. Compare anti-interference Performance of each Control System
5.3. Different Shape of Tracking Trajectory
5.4. Analysis of the Experimental Results
6. Conclusions
Acknowledgements
References