Design and Implementation of Self-Adaptive PD Controller Based on Fuzzy Logic Algorithm for Omni-Directional Fast Robots in Presence of Model Uncertainties

摘要

In this paper, a self-adaptive PD (SAPD) is employed for motion control of omni-directional robots. The method contains a PD controller that can be tuned online using a fuzzy logic system (FLS). Fast and accurate positioning is one of significant challenges in robot platforms. In addition, some uncertainties have adverse effects on traditional control system's performance during the robot's motion. Slow responses, low accuracy and instability are the most important drawbacks of widespread controllers in presence of uncertain dynamics. Since the fuzzy algorithm can deal with uncertainties and nonlinearities, the proposed method can tackle the mentioned problems. The controller is designed based on an uncertain model and implemented on a four wheeled omni-directional fast robot. The novelty of this article is proposing an enhanced version of well-known gain scheduling PD controller to improve positioning performance of the robot in different circumstances. Experimental results show that the method can provide a desirable performance in the presence of uncertainties.