Fuzzy PID control theory in multi-objective optimal longitudinal following of intelligent trolley

Abstract

As a kind of mobile robot, the intelligent trolley is also called a wheeled robot, and this field is the fastest growing in the current technological development. Smart trolleys have good automatic guidance functions, often used in modern logistics conveying systems. A fuzzy control algorithm has a good control effect for nonlinear systems and has a strong anti-interference ability. In order to optimize the multi-objective longitudinal following system of smart carts, therefore, this paper develops the study of fuzzy PID control algorithm for multi-objective longitudinal following of smart carts. Based on the incremental PID control, an improved PID algorithm is constructed by introducing incomplete differentiation, differential prior, and “optimal curvature” algorithm. Based on the actual control experience, the fuzzy control table is designed, and the adaptive control algorithm is obtained. Finally, the simulation results of the fuzzy PID control algorithm are tested by MATLAB/Simulink, and the most suitable fuzzy PID control algorithm for multi-objective optimal longitudinal following of intelligent carts is derived.

Keywords

• intelligent cart
• longitudinal following
• incomplete differentiation
• fuzzy control
• pid control
• 68t05