A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots

A combined backstepping and adaptive fuzzy PID approach for a nonholonomic autonomous mobile robot to follow the desired path is proposed in this paper. Two adaptive fuzzy PID controllers are adopted at the dynamic control level for velocity tracking and steering control of the robot. The fuzzy PID...

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Bibliographic Details
Published in:Journal of the Brazilian Society of Mechanical Sciences and Engineering 2021-03, Vol.43 (3), Article 156
Main Authors: Mai, The Anh, Dang, Thai Son, Duong, Dinh Tu, Le, Van Chuong, Banerjee, Santo
Format: Article
Language:English
Subjects:
Adaptive control
Control systems design
Controllers
Dynamic control
Engineering
Fuzzy control
Kinematics
Mechanical Engineering
Proportional integral derivative
Robot control
Robots
Steering
Technical Paper
Tracking control
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Summary:A combined backstepping and adaptive fuzzy PID approach for a nonholonomic autonomous mobile robot to follow the desired path is proposed in this paper. Two adaptive fuzzy PID controllers are adopted at the dynamic control level for velocity tracking and steering control of the robot. The fuzzy PID controller consists of a PID controller which is designed by a trial-and-error approach, optimized using the cross-entropy method, and a fuzzy controller based on relational models with two inputs and three outputs. Adaptive adjustment of the PID controllers is implemented by means of the fuzzy controllers. The pose deviations of the robot when trajectory tracking will be eliminated by the backstepping control technique at the kinematic level using a kinematic model. The simulation validation results demonstrate that the proposed control system can offer good performances for the robot in terms of small distance error, rapid response, high stability, and trajectory tracking more accuracy.
ISSN:1678-5878
1806-3691
DOI:10.1007/s40430-020-02767-8