A fuzzy compensated PID controller for formation control of mobile robots

Author

Ki-Hyun Bae ; Yong-Baek Kim ; Young-Kiu Choi

Author_Institution

Dept. of Electr. & Comput. Eng., Pusan Nat. Univ., Busan, South Korea

fYear

2014

fDate

3-5 Dec. 2014

Firstpage

123

Lastpage

128

Abstract

In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. So a fuzzy compensator is added to improve control performance. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.

Keywords

compensation; fuzzy control; mobile robots; robot dynamics; robot kinematics; three-term control; changing environments; computer simulation; dynamic controller; fuzzy compensated PID controller system; fuzzy compensator; kinematic controller; leader-follower approach; mobile robot dynamics effects; mobile robot formation control; nonlinear environments; Computational modeling; Kinematics; Lead; Mobile robots; Formation control; fuzzy compensator; leader-follower; multiple mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Modelling, Identification & Control (ICMIC), 2014 Proceedings of the 6th International Conference on

Conference_Location

Melbourne, VIC

Type

conf

DOI

10.1109/ICMIC.2014.7020739

Filename

7020739