Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia.
Comput Intell Neurosci. 2021 Oct 18;2021:5542888. doi: 10.1155/2021/5542888. eCollection 2021.
Mobile robots are promising devices which are dedicated to human comfort in all areas. However, the control algorithm of the wheels of mobile robot is entirely challenging due to the nonlinearity. Recently, the classical PID (proportional-integral-derivative) controllers are frequently used in robotics for their high accuracy and the smooth determination of their parameters. A robust approach called fuzzy control which is based on the conversion of linguistic inference sets in a suitable control value is a widely used method in industrial system control in our days. A new challenging method to solve the problem of intelligent navigation of nonholonomic mobile robot is suggested. In this work, the presented methodology is based on three hybrid fuzzy logic PID controllers which are adapted to guarantee target achievement and trajectory tracking. A fuzzy-PID control algorithm is designed with 2 inputs and 3 outputs. By the information given by the system response, error and error derivate can be used to extract and adopt the PID controller parameters: proportional, integral, and derivative gains. Besides, a tuning value A is introduced to improve the resulted response in terms of speeding up and reducing error, overshoot, and oscillation, as well as reducing ISE and IAE values. A modelization of a differential drive mobile robot is presented. The developed algorithm is tested and implemented to this mobile robot model via Simulink/MATLAB.
移动机器人是一种有前途的设备，致力于在各个领域为人类提供舒适感。然而，由于其非线性，移动机器人的车轮控制算法完全具有挑战性。最近，经典的 PID（比例-积分-微分）控制器因其高精度和参数确定的平滑性而经常在机器人领域中使用。基于将语言推理集转换为适当控制值的模糊控制是一种在当今工业系统控制中广泛使用的方法。提出了一种新的方法来解决非完整移动机器人智能导航的问题。在这项工作中，所提出的方法基于三个混合模糊逻辑 PID 控制器，以适应目标实现和轨迹跟踪。设计了一个具有 2 个输入和 3 个输出的模糊-PID 控制算法。通过系统响应、误差和误差导数的信息，可以提取和采用 PID 控制器参数：比例、积分和微分增益。此外，引入了一个调谐值 A，以改善响应的速度和减少误差、过冲和振荡，以及降低 ISE 和 IAE 值。提出了一种差动驱动移动机器人的模型化方法。通过 Simulink/MATLAB 对开发的算法进行了测试和实现。
