Fuzzy-PID-based trajectory tracking for 3WIS robot

Xingyu Zhou; Chaobin Xu

doi:10.1117/12.3025551

28 February 2024 Fuzzy-PID-based trajectory tracking for 3WIS robot

Xingyu Zhou, Chaobin Xu

Author Affiliations +

Proceedings Volume 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023); 130713I (2024) https://doi.org/10.1117/12.3025551
Event: International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 2023, Shenyang, China

Abstract

This paper presents a trajectory tracking approach for a three-wheel independent steering (3WIS) robot using a fuzzy PID controller. The kinematic model of the 3WIS robot is introduced, highlighting its capability for omnidirectional motion control. A comparison is made between traditional PID controllers and fuzzy PID controllers, emphasizing the advantages of the latter in handling nonlinear systems. The concept of fuzzy PID control is explained, and fuzzy rules for parameter adjustment are proposed. The accuracy of the kinematic model and the effectiveness of the fuzzy PID controller are verified through simulation using the Webots platform and real-world experiment. Results indicate successful trajectory tracking, although slight fluctuations in the heading angle are observed due to frictional torque and gear backlash. The findings validate the accuracy of the kinematic model and the effectiveness of fuzzy PID controller in trajectory tracking.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xingyu Zhou and Chaobin Xu "Fuzzy-PID-based trajectory tracking for 3WIS robot", Proc. SPIE 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 130713I (28 February 2024); https://doi.org/10.1117/12.3025551

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE