Type-2 Fuzzy Adaptive PID Controller for Differential Drive Mobile Robot: A Mechatronics Approach

摘要

This paper studies the effect of a type-2 fuzzy adaptive PID (type-2 FAPID) controller on the performance of a mechatronics system such as differential mobile robot. In the proposed adaptive controller, the PID controller gains are automatically tuned using type-2 fuzzy systems. The performance of controllers is compared by simulating the robot traveling an undisturbed straight route and a circular route. Torque load disturbance is later added to the DC motors to draw better comparisons between the type-1 and type-2 FAPID controllers. The findings of this paper showed that the designed type-2 fuzzy adaptive PID controllers have enhanced the performance of differential mobile robot.