Design interval type-2 fuzzy like (PID) controller for trajectory tracking of mobile robot
Joint Authors
Abbas, Mustafa Y.
Muhammad, Muhammad J.
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 19, Issue 3 (31 Jul. 2019), pp.1-15, 15 p.
Publisher
Publication Date
2019-07-31
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Telecommunications Engineering
Abstract EN
One of the major problems in the field of mobile robots is the trajectory tracking problem.
There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered.
The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties.
Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance.
This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot.
The firefly optimization algorithm has been used to find the best values of controller’s parameters.
The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error.
The Matlab simulation results demonstrate the good performance and robustness of this controller.
These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot.
Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.
American Psychological Association (APA)
Muhammad, Muhammad J.& Abbas, Mustafa Y.. 2019. Design interval type-2 fuzzy like (PID) controller for trajectory tracking of mobile robot. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 19, no. 3, pp.1-15.
https://search.emarefa.net/detail/BIM-888528
Modern Language Association (MLA)
Muhammad, Muhammad J.& Abbas, Mustafa Y.. Design interval type-2 fuzzy like (PID) controller for trajectory tracking of mobile robot. Iraqi Journal of Computer, Communications and Control Engineering Vol. 19, no. 3 (Jul. 2019), pp.1-15.
https://search.emarefa.net/detail/BIM-888528
American Medical Association (AMA)
Muhammad, Muhammad J.& Abbas, Mustafa Y.. Design interval type-2 fuzzy like (PID) controller for trajectory tracking of mobile robot. Iraqi Journal of Computer, Communications and Control Engineering. 2019. Vol. 19, no. 3, pp.1-15.
https://search.emarefa.net/detail/BIM-888528
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 15
Record ID
BIM-888528