Mehran University Research Journal Of Engineering &
Technology (HEC Recognized In Category "X")
Publishing Since 1982.

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Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

Keywords: PID Controller, Fuzzy Logic, Kinematic Robot, Trajectory Tracking

Mehran University Research Journal of Engineering & Technology

Volume 35 ,  Issue 2



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. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller