An Advanced Fuzzy Immune PID-type Tracking Controller of a Nonholonomic Mobile Robot

摘要：

based on the dynamics nonlinearities of a nonholonomic mobile robot,an advanced fuzzy immune PID- type control algorithm is proposed for robot path tracking.The novel tracking controller combines fuzzy control,immune feedback mechanism of organism with conventional PID control. In the algorithm,fuzzy immune PID controller is improved through the mixed connection of conventional PID and P-type immunity feedback controller.So some parameters can point to their control performance individually.Meanwhile,the parameters of the controller are optimized by immune genetic algorithm.The effectiveness of the proposed method is demonstrated by a series of simulation and comparison studies. The simulation results show that advanced fuzzy immune PID algorithm has better tracking precision,stronger smoothness and superior control performance than ordinary fuzzy immune PID and conventional PID controllers.In addition,the given algorithm can overcome the influence of modeling error and linear limitation.

关键词： nonholonomic mobile robot tracking controller fuzzy immune PID control

作者: Lingli Yu Zixing Cai Zhongyang Jiang Qiang Hu

作者单位: Intelligent Robot Lab. School of Information Science and Engineering Central South University,ChangSha ,Hunan,P.R.China, 410083

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）