Fuzzy-FOPID control for tracking the trajectory of nonholonomic Wheeled Mobile Robot

Jean-Blaise Mvondo Zanga, Bertrand Moffo Lonla, Felix Paune, Leandre Nneme Nneme

Abstract


This paper proposes a Fuzzy Fractional-Order Proportional Integral and Derivate Controller (Fuzzy-FOPID) for trajectory tracking of a non-holonomic wheeled mobile robot. The proposed Fuzzy-FOPID controller consists of a Fractional-Order Proportional Integral and Derivate (FOPID) controller and a Fuzzy Logic Controller (FLC) where the FLC is used to dynamically determine the ,and parameters of the FOPID. Five different trajectories including linear trajectory, L-shaped trajectory, sinusoidal trajectory, circular trajectory and Lemniscate trajectory are used to evaluate the performances of the proposed controller. These performances are compared with those of Fuzzy-PID, PID and FOPID controllers based on the results of computer simulations performed with MATLAB/Simulink software. These simulation results show that, better performance in terms of convergence, stability, speed and tracking accuracy are obtained with the proposed controller compared to other controllers.

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References


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