Fuzzy PID controller: Design, performance evaluation, and stability analysis
Information Sciences: an International Journal - Special issue analytical theory of fuzzy control with applications
Optimal Control Systems
Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots
Journal of Intelligent and Robotic Systems
PI-Fuzzy controllers for integral plants to ensure robust stability
Information Sciences: an International Journal
Omni-directional mobile robot controller based on trajectory linearization
Robotics and Autonomous Systems
Control of electrical drives based on fuzzy logic
WSEAS Transactions on Systems and Control
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Conventional fuzzy control and its enhancement
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Hi-index | 0.00 |
The purpose of this study is to suggest and examine a PI-fuzzy path planner and associated low-level control system for a linear discrete dynamic model of omni-directional mobile robots to obtain optimal inputs for drivers. Velocity and acceleration filtering is also implemented in the path planner to satisfy planning prerequisites and prevent slippage. Regulated drivers' rotational velocities and torques greatly affect the ability of these robots to perform trajectory planner tasks. These regulated values are examined in this research by setting up an optimal controller. Introducing optimal controllers such as linear quadratic tracking for multi-input-multi-output control systems in acceleration and deceleration is one of the essential subjects for motion control of omni-directional mobile robots. The main topics presented and discussed in this article are improvements in the presented discrete-time linear quadratic tracking approach such as the low-level controller and combined PI-fuzzy path planner with appropriate speed monitoring algorithm such as the high-level one in conditions both with and without external disturbance. The low-level tracking controller presented in this article provides an optimal solution to minimize the differences between the reference trajectory and the system output. The efficiency of this approach is also compared with that of previous PID controllers which employ kinematic modeling. Utilizing the new approach in trajectory-planning controller design results in more precise and appropriate outputs for the motion of four-wheeled omni-directional mobile robots, and the modeling and experimental results confirm this issue.