Optimizing Control Strategies for Wheeled Mobile Robots Using Fuzzy Type I and II Controllers and Parallel Distributed Compensation

TL;DR

This paper develops and compares fuzzy Type I and II controllers with traditional PID for wheeled robots, demonstrating that fuzzy Type II controllers offer superior smoothness and stability through advanced control strategies and LMI analysis.

Contribution

It introduces a robust fuzzy control framework with parallel distributed compensation for wheeled robots, including stability analysis and pathway planning using Bezier curves.

Findings

Fuzzy Type II controllers outperform Type I and PID in smoothness and stability.

Parallel distributed compensation effectively manages uncertainties in the robot's kinematic model.

The proposed approach enhances control robustness and pathway planning for wheeled mobile robots.

Abstract

Adjusting the control actions of a wheeled robot to eliminate oscillations and ensure smoother motion is critical in applications requiring accurate and soft movements. Fuzzy controllers enable a robot to operate smoothly while accounting for uncertainties in the system. This work uses fuzzy theories and parallel distributed compensation to establish a robust controller for wheeled mobile robots. The use of fuzzy logic type I and type II controllers are covered in the study, and their performance is compared with a PID controller. Experimental results demonstrate that fuzzy logic type II outperforms type I and the classic controller. Further, we deploy parallel distributed compensation, sector of nonlinearity, and local approximation strategy in our design. These strategies help analyze the stability of each rule of the fuzzy controller separately and map the if-then rules of the fuzzy box into parallel distributed compensation using Linear Matrix Inequalities (LMI) analysis. Also, they help manage the uncertainty flow in the equations that exist in the kinematic model of a robot. Last, we propose a Bezier curve to represent the different pathways for the wheeled mobile robot.