Fuzzy Fine tuning of an Optimized PID Control Scheme for Mobile Robot Trajectory Tracking

摘要

This paper present an efficient robust design method of PID control scheme based on using fuzzy logic and particles swarm optimization (PSO) method for trajectory tracking of mobile robot. Two PID controllers are used. Parameters of PID controllers are optimized offline using PSO and fuzzy controller is used for tuning the parameters online . The two optimized PID controllers are used for speed control and azimuth control. The online fuzzy tuning in the designed control scheme work well when there are variations in the plant parameters and changes in operating conditions.