Adaptive Control For Mobile Robots Based On  Inteligent Controller

Than Thi  Thuong; Vo Thanh  Ha

doi:10.6180/jase.202405_27(5).0012

Adaptive Control For Mobile Robots Based On Inteligent Controller

Than Thi Thuong¹ and Vo Thanh Ha²This email address is being protected from spambots. You need JavaScript enabled to view it.

¹Faculty of Electrical Engineering, University of Economics - Technology for Industries, Vietnam

²Faculty of Electrical and Electronic Engineering, University of Transport and Communications, Vietnam

Received: December 18, 2022
Accepted: August 19, 2023
Publication Date: October 6, 2023

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202405_27(5).0012

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

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