Adaptive Control For Mobile Robots Based On Inteligent Controller

Abstract

The paper presents three position controller designs for a mobile robot. The first is a position controller using a classic PID controller. The second is the position controller is designed based on optimal three coefficients for PID controller by fuzzy logic control (FLC). The last, the mobile robot is moved according to the trajectories set by the FLC controller. All three controllers have two state variables (position error and position deviation derivative and one output variable, velocity) and one velocity output variable of the robot. The robot is moved according to the trajectories set based on the PID-FLC controller flow fuzzy rules with a 7x7 matrix to the optimal three coefficients of the PID controller. Meanwhile, the FLC controller is done by a 9x9 matrix rule. Evaluated the efficiency of PID-FLC and FLC controllers are compared to classical PID controllers. The correctness of the three controllers is proven through MATLAB/Simulink simulation. The PID-FLC controller has the result better than the other two controllers.

Keywords

• mobile robot
• pid
• fuzzy logic control
• flc
• pid-fuzzy