Teaching–learning-based optimal interval type-2 fuzzy PID controller design: a nonholonomic wheeled mobile robots

Abstract

SUMMARYThis paper introduces an optimal interval type-2 fuzzy proportional–integral–derivative (PID) controller to achieve the best trajectory tracking for nonholonomic wheeled mobile robots (WMRs). In the core of the proposed method, a novel population-based optimization algorithm, called teaching–learning-based optimization (TLBO), is employed for evolving the parameters of the controller as well as the parameters of the input and output membership functions. Two PID controllers are designed for each of two wheels separately whereas each controller has two inputs and one output that are logically connected by nine rules. The controller can handle the problem of integrated kinematic and dynamic tracking in the presence of uncertainties. Simulation results demonstrate the superiority of the proposed control scheme.

Control system design and study for an automatic mobile robot

“…Sensor and host exchanged data using set of predefined commands [1]. The format of commands is shown in Fig.…”

“…Nowadays mobile robots have been widely utilized in different applications such as robotic soccer and manufacturing plants [1]. With the development of automated warehouse and flexible assembly line, mobile robot is widely used for transporting goods or objects.…”

Embedded intelligent adaptive PI controller for an electromechanical system

“…A T2-FS is characterized by a fuzzy membership function, unlike a T1-FS where the membership grade is a crisp number in [0, 1] [29]. The conventional PID controller is combined with an interval type-2 fuzzy logic system (IT2-FLS) in order to achieve better system performance over the conventional PID controller with type-1 FLS [30][31][32][33][34][35][36][37][38][39][40][41][42][43][44]. Although favorable performance can be obtained, these controllers are limited on tuning the controller parameters related to uncertain systems.…”

Trajectory Tracking of a Nonholonomic Wheeleed Mobile Robot Using Hybrid Controller

“…Mobile robots are widely use in the fields of medicine, health care and manufacturing [2]. A WMR is a nonlinear multiple inputs and multi outputs (MIMO) system [3]. With respect to their mechanical design, robots are categorize into holonomic and nonholonomic robots.…”

“…The inner loop is based on integral Sliding Mode Controller (SMC) while the outer loop have a tangent function of hyperbola. In reference [3] Dual Proportional Integral Derivative (D-PID) controllers were designed for controlling the two wheels individually whereas, twin input and single output was controlled by nine rules.…”