Hybrid Fuzzy PID Controller Design for a Mobile Robot

摘要

This paper used intelligent controller to improve performance of a mobile robot. We used MSI Ihomer robot in this experiment. By way of combination of traditional PID controller and Fuzzy Logic controller can achieve steady state in the short time. We tried to add hybrid system in the Fuzzy PID controller to further improve the performance of a mobile robot. Performance comparisons between hybrid Fuzzy PID controller and Fuzzy PID controller are provided. From simulation results it can be found that both the overshoot and settling time are decreased to meet the requirement. In conclusion, the hybrid Fuzzy PID control method can improve dynamic response of mobile robot effectively.