Nonholonomic mobile robot trajectory tracking using hybrid controller.

Muhammad Safwan; Vali Uddin; Muhammad Asif

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Nonholonomic mobile robot trajectory tracking using hybrid controller.

Author(s)

Muhammad Safwan Faculty of Engineering Science and Technology, Hamdard University, Karachi, Pakistan

Vali Uddin Faculty of Engineering Science and Technology, Hamdard University, Karachi, Pakistan

Muhammad Asif Department of Electronic Engineering, Sir Syed University of Engineering & Technology, Karachi, Pakistan

Abstract

A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature; therefore; it is controlling is always being a difficult task. Thus; a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative) is being proposed; in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover; the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides; the fuzzy logic control system is also being compared by the proposed control system. Results attained shows that the fuzzy based PID controller drives improved results than fuzzy logic controller.

Publication Details

Page(s) 171-180

DOI DOI not available

Published Journal: Mehran University Research Journal of Engineering and Technology, Volume: 35, Issue: 2, Year: 2016

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