Fuzzy Adaptive PID Control of a Mobile Assistive Robot Platform

Abstract

In the past, assistive robots are used to assist people with physical disabilities through physical interaction and improve the independence and quality of life of persons with disabilities. In this paper, a fuzzy proportional integral derivative controller is proposed which can be tuned by carrying the tuning rules from fuzzy domain. It has been applied and validated in actual mobile assistive system control with significantly improves the control quality. The simulation results show that the performances are better than that of conventional PID controller.