Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

摘要

The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.