Hybrid Fuzzy PID Controller Design for a Mobile Robot

This paper used intelligent controller to improve performance of a mobile robot. We used MSI Ihomer robot in this experiment. By way of combination of traditional PID controller and Fuzzy Logic controller can achieve steady state in the short time. We tried to add hybrid system in the Fuzzy PID cont...

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Bibliographic Details
Published in2018 IEEE International Conference on Applied System Invention (ICASI) pp. 650 - 653
Main Authors Wang, Teng-Yi, Chang, Chia-Der
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2018
Subjects
Conferences
Fuzzy PID controller
Hybrif Fuzzy PID controller
mobile robot
Mobile robots
PD control
PI control
PID controller
Technological innovation
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Summary:This paper used intelligent controller to improve performance of a mobile robot. We used MSI Ihomer robot in this experiment. By way of combination of traditional PID controller and Fuzzy Logic controller can achieve steady state in the short time. We tried to add hybrid system in the Fuzzy PID controller to further improve the performance of a mobile robot. Performance comparisons between hybrid Fuzzy PID controller and Fuzzy PID controller are provided. From simulation results it can be found that both the overshoot and settling time are decreased to meet the requirement. In conclusion, the hybrid Fuzzy PID control method can improve dynamic response of mobile robot effectively.
DOI:10.1109/ICASI.2018.8394340