Autors: Ahmed, S. A., Petrov, M. G.
Title: Trajectory Control of Mobile Robots using Type-2 Fuzzy-Neural PID Controller
Keywords: trajectory tracking, type-2 fuzzy PID controller

Abstract: At the present time, various types of autonomous mobile robots have found their place in many applications related with surveillance, transportation, inspection, and other problems. The trajectory tracking problem stands along with this growth. In real world, uncertainty and fuzziness of information cause additional difficulties. Hence, deterministic models insufficient usually are, one possible way to overcome the problem is to resort to the use of type-2 fuzzy systems. In this paper an adaptive tuned interval type-2 Takagi-Sugeno fuzzy-neural PID controller for compensation of friction and disturbance effects during the trajectory tracking control of a non-holonomic mobile robot is proposed. The parameters of the adaptive controller are updated according the introduced on-line learning algorithm. Preformed simulation experiments demonstrate the effect of the developed control algorithm on the trajectory tracking performance of a mobile robot.

References

    Issue

    16th IFAC Conference on Technology, Culture and International Stability TECIS 2015, vol. 48, issue 24, pp. 138-143, 2015, Bulgaria, IFAC-PapersOnLine, https://doi.org/10.1016/j.ifacol.2015.12.071

    Цитирания (Citation/s):
    1. Girgis M.E., Elkhateeb N.A. Adaptive PID control based on exponential forgetting recursive least squares for 2DOF robotic manipulator (2024) International Journal of Modelling, Identification and Control, 45 (4), pp. 189 - 199,DOI: 10.1504/IJMIC.2024.144033 - 2024 - в издания, индексирани в Scopus и/или Web of Science
    2. Chiem N.X., Nam N.H., Thang L.T., Synthesis of Active Disturbance Rejection Controller via Extended State Observer Combined with LQR Controller for Two-Wheeled Line Tracking Robot, 2025, Journal of Robotics and Control (JRC), issue 2, vol. 6, pp. 677-685, DOI 10.18196/jrc.v6i2.24754, issn 27155056, eissn 27155072 - 2025 - в издания, индексирани в Scopus
    3. Girgis M.E., Elkhateeb N.A., Trajectory tracking of 2DOF robotic manipulator system based on adaptive exponential forgetting recursive least squares fractional-order PID control, 2025, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, issue 0, DOI 10.1177/09596518251322228, issn 09596518, eissn 20413041 - 2025 - в издания, индексирани в Scopus

    Вид: статия в списание, публикация в реферирано издание, индексирана в Scopus