Fuzzy PID Based Trajectory Tracking Control of Mobile Robot and its Simulation in Simulink

  title={Fuzzy PID Based Trajectory Tracking Control of Mobile Robot and its Simulation in Simulink},
  author={Qingshi Xu and Jiangming Kan and Shan-shan Chen and Sheng-Zhan Yan},
  journal={International Journal of Control and Automation},
The precise control of mobile robot is an important issue in robotics field. In this paper, the motion model of mobile robot is established by mechanism analysis. Then, a fuzzy PID controller is designed for trajectory tracking of mobile robot. The controller consists of a PID controller and a fuzzy inference unit with two inputs and three outputs to tune the parameters of PID controller according to the error and error rate. Finally, the model of a four-wheel mobile robot, fuzzy PID and… 

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