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28 February 2024 Fuzzy-PID-based trajectory tracking for 3WIS robot
Xingyu Zhou, Chaobin Xu
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Proceedings Volume 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023); 130713I (2024) https://doi.org/10.1117/12.3025551
Event: International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 2023, Shenyang, China
Abstract
This paper presents a trajectory tracking approach for a three-wheel independent steering (3WIS) robot using a fuzzy PID controller. The kinematic model of the 3WIS robot is introduced, highlighting its capability for omnidirectional motion control. A comparison is made between traditional PID controllers and fuzzy PID controllers, emphasizing the advantages of the latter in handling nonlinear systems. The concept of fuzzy PID control is explained, and fuzzy rules for parameter adjustment are proposed. The accuracy of the kinematic model and the effectiveness of the fuzzy PID controller are verified through simulation using the Webots platform and real-world experiment. Results indicate successful trajectory tracking, although slight fluctuations in the heading angle are observed due to frictional torque and gear backlash. The findings validate the accuracy of the kinematic model and the effectiveness of fuzzy PID controller in trajectory tracking.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Xingyu Zhou and Chaobin Xu "Fuzzy-PID-based trajectory tracking for 3WIS robot", Proc. SPIE 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 130713I (28 February 2024); https://doi.org/10.1117/12.3025551
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KEYWORDS
Kinematics
Fuzzy logic
Robotic systems
Mobile robots
Systems modeling
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