Motion control of robot based on fuzzy adaptive PID algorithm

Author

Lei Yanmin ; Du Limin ; Feng Zhibin

Author_Institution

Dept. of Electron. Inf. Eng., Changchun Univ., Changchun, China

fYear

2013

fDate

12-13 Oct. 2013

Firstpage

1310

Lastpage

1313

Abstract

The UP-Voyager II autonomous mobile robot as the experimental platform, a kind of fuzzy adaptive PID algorithm is presented and used for the robot´s motion control. Aiming at the interferential, time varying and nonlinear problems in motion control, the design method of fuzzy adaptive PID is put forward. This method may dynamically adjust proportional coefficient (K_p), integral coefficient (K_i) and derivative coefficient (K_d) of PID algorithm by using fuzzy control. The experimental results show that this method can effectively improve the control performance and control precision of the wheel speed.

Keywords

adaptive control; fuzzy control; integral equations; mobile robots; motion control; nonlinear control systems; three-term control; time-varying systems; velocity control; wheels; UP-Voyager II autonomous mobile robot; control performance; control precision; derivative coefficient; fuzzy adaptive PID algorithm; fuzzy control; integral coefficient; interferential problems; nonlinear problems; proportional coefficient; robot motion control; time varying problems; wheel speed; Adaptive systems; Fuzzy control; Mobile robots; Motion control; Niobium; Robot kinematics; autonomous mobile robot; fuzzy adaptive PID; motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Network Technology (ICCSNT), 2013 3rd International Conference on

Conference_Location

Dalian

Type

conf

DOI

10.1109/ICCSNT.2013.6967342

Filename

6967342