A fuzzy integrated self-tuning PID technique for mini robot

This paper presents the modeling, numerical simulation, control and the testing of a fuzzy integrated self-tuning PID controller for a line following mini robot. The system is modeled for different lighting conditions considering the desired and ambient light intensities. The system modeling is performed in a simulation environment and the generated control parameters are applied to the tuned fuzzy controller. The proposed controller architecture is extended to achieve smooth and fast movements of the robot under varying ambient and surface conditions. This extension of the fuzzy based PID controller can be applied to similar applications which deal with high degrees of environmental lighting changes. The tuned system is capable of self-tune the PID parameters without human interaction. The proposed design shows a significantly improved performance over its conventional counterpart.