Soft-Switching Fuzzy P2ID for robot navigation

Fuzzy P²ID is the controlling algorithm, which derived from the combination of the fuzzy PD and fuzzy PI in order to reduce the Rise-time and Overshoot. The recent development of SS fuzzy P²ID is based on the original algorithm of fuzzy P²ID, in which the SS fuzzy P²ID is the algorithm developed in order to correct the crisp signal problem of the original algorithm. This report describes the application of the soft-switching fuzzy P²ID controller to be used as the navigation system of the wheel chair-propel robots. The results of using both original and recent developed algorithms were compared by using the Simulation under the same parameter to both algorithms, as a result the satisfactory result of the recent development algorithm was found.