Intelligent Trolley Path Tracking Control Based on Feed-forward Variable domain Fuzzy PID Control

This paper uses a typical intelligent cart model like the Ackermann steering car as the control object, in order to enhance the control effect of the intelligent car system in the process of path tracking and improve the tracking performance and anti-interference, a feed-forward variable domain fuzzy PID control method (FVUFP) is proposed. Establishing an open-loop transfer function for the system based on the construction of the Ackermann steering vehicle kinematic model and simulating in Matlab / Simulink to verify the control performance of the FVUFP controller and its suppression of continuous disturbance signals. The experimental results show that the FVUFP can effectively improve the system performance compared with the traditional fuzzy PID control (FPID) and variable domain fuzzy PID control (VUFP), and has a strong interference-carrying performance against continuous disturbance signals.