Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

  • Muhammad Safwan Post-Graduate Student, Faculty of Engineering Science & Technology, Hamdard University, Karachi, and Sir Syed University of Engineering and Technology, Karachi
  • Vali uddin Professor, Faculty of Engineering Science and Technology, Hamdard University, Karachi.
  • Muhammad Asif Department of Electronic Engineering, Sir Syed University of Engineering and Technology, Karachi
DOI: https://doi.org/10.22581/muet1982.1602.01

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

Published
Apr 1, 2016
How to Cite
SAFWAN, Muhammad; UDDIN, Vali; ASIF, Muhammad. Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller. Mehran University Research Journal of Engineering and Technology, [S.l.], v. 35, n. 2, p. 161-170, apr. 2016. ISSN 2413-7219. Available at: <https://publications.muet.edu.pk/index.php/muetrj/article/view/520>. Date accessed: 02 may 2024. doi: http://dx.doi.org/10.22581/muet1982.1602.01.
Citation Formats
Issue
Vol 35 No 2 (2016): April Issue
Section
Articles
This is an open Access Article published by Mehran University of Engineering and Technolgy, Jamshoro under CCBY 4.0 International License