Type-2 Fuzzy PID Controller Design for Mobile Robot

摘要

Autonomous driving of mobile robot is important in various working environments. For its autonomous driving, mobile robot utilized ultrasonic sensor to detect obstacles and avoid them. Also, there have been researches on supplementing function of avoiding crash by using control methods based on adoption of intellectual system. This research has designed type-2 fuzzy self-tuning PID controller which can enhance autonomous driving function of mobile robot under fixed obstacle environment. The fuzzy controller has utilized type-2 with multiple values and the fuzzy self-tuning PID controller adjusting gain value of PID controller is applied. 25 rules have been reduced to 9 rules to improve function of hardware. Type-2 fuzzy self-tuning PID controller is used to compare function of traditional PID controller and Type-1 fuzzy self-tuning PID controller. In terms of function of Type-2 fuzzy controller with reduced number of rules, it was confirmed through improvement in function of autonomous driving of mobile robot using MATLAB/Simulink.