Adaptive Fuzzy FOPID Control Scheme for Path tracking of Mobile Robot | Zendy

Yassine Turki | Zendy

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Adaptive Fuzzy FOPID Control Scheme for Path tracking of Mobile Robot

Author(s) -

Yassine Turki

Publication year - 2018

Publication title -

international journal of computer applications

Language(s) - English

Resource type - Journals

ISSN - 0975-8887

DOI - 10.5120/ijca2018917887

Subject(s) - computer science , scheme (mathematics) , path (computing) , mobile robot , control (management) , fuzzy logic , tracking (education) , control theory (sociology) , artificial intelligence , real time computing , robot , computer network , mathematics , psychology , mathematical analysis , pedagogy

This paper present a new control method for path tracking of mobile robot based on using fuzzy logic and FOPID controller . Two FOPID controllers are used. Parameters of the two FOPID controllers are optimized offline using genetic algorithm.. These optimized FOPID controllers are used for speed control and azimuth control. Parameters of these controller are adjusted online via fuzzy system. Each FOPID controller is supported by a fuzzy controller for adjusting the parameters online. The adjusting mechanism in the designed control scheme work well when there are variations in the plant parameters and changes in operating conditions.

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