差动驱动移动机器人的2型模糊自适应PID控制:机电一体化方法

2022 Advances in Science and Engineering Technology International Conferences (ASET) Pub Date : 2022-02-21 DOI:10.1109/ASET53988.2022.9734882

Parham Dadash Pour, K. Alsayegh, M. Jaradat

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引用次数: 2

摘要

本文研究了2型模糊自适应PID (type-2 FAPID)控制器对差动移动机器人等机电一体化系统性能的影响。在所提出的自适应控制器中，PID控制器增益采用2型模糊系统自动调谐。通过对机器人在无干扰的直线路径和圆周路径的仿真，比较了控制器的性能。转矩负载干扰后来加入到直流电机中，以便更好地比较1型和2型FAPID控制器。研究结果表明，所设计的2型模糊自适应PID控制器提高了差动机器人的性能。

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

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.

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2022 Advances in Science and Engineering Technology International Conferences (ASET)

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