Adaptive fuzzy control for trajectory tracking of Mobile Robot

摘要

Trajectory tracking of the mobile robot is one research hot for the robot. For the control system of the two-wheeled differential drive mobile robot being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. A new control scheme combined with the fuzzy PD (Proportional and Differential) control and the separate integral control is proposed in this paper. The control scheme can not only make full use of the advantage of the fuzzy control, but also have the good steady state tracking ability of the integral control. However, this control scheme introduces so many parameters which are difficult to optimize. In order to realize the online adaptive learning of the control parameters, the modified VFSA (Very Fast Simulated Annealing) is used. The simulation results show that the method is feasible, and can quickly approach the conference trajectory in a short time, and the trajectory tracking error is very small.