Motion control of robot based on fuzzy adaptive PID algorithm

摘要

The UP-Voyager II autonomous mobile robot as the experimental platform, a kind of fuzzy adaptive PID algorithm is presented and used for the robot's motion control. Aiming at the interferential, time varying and nonlinear problems in motion control, the design method of fuzzy adaptive PID is put forward. This method may dynamically adjust proportional coefficient (K <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</sub> ), integral coefficient (K <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i</sub> ) and derivative coefficient (K <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</sub> ) of PID algorithm by using fuzzy control. The experimental results show that this method can effectively improve the control performance and control precision of the wheel speed.