Title :
Research on motion control of mobile robot with fuzzy PID arithmetic
Author :
Qi, Tian ; Li, Cheng ; Kai, Wang ; Yan, Liu
Author_Institution :
Second Artillery Eng. Coll., Xi´´an, China
Abstract :
Through analysis the kinematics model of Dongfeng Ilsoccer robot, considering time change, nonlinear and other characteristics of this system, a fuzzy PID. Parameter self-tuning PID control method combining fuzzy control with traditional PID control is present. To contrapose the problems of robot soccer motion system, the methods of dynamically regulate the three PID parameters (kp, ki, kd) based on fuzzy control is present. The improve of control effect is verified by experimental result.
Keywords :
arithmetic; fuzzy control; mobile robots; motion control; multi-robot systems; nonlinear control systems; robot kinematics; self-adjusting systems; sport; three-term control; Dongfeng Ilsoccer robot kinematics model; fuzzy PID arithmetic; mobile robot soccer motion control system; parameter self-tuning PID control; time change; Arithmetic; Fuzzy control; Fuzzy systems; Instruments; Mobile robots; Motion control; Nonlinear control systems; Robot kinematics; Three-term control; Wheels; four wheeled omni-directional robot; fuzzy PID; mobile robot; motion control;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274284
