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Type-2 Fuzzy Self-Tuning PID Controller Design and Steering Angle Control for Mobile Robot Turning
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 Title & Authors
Type-2 Fuzzy Self-Tuning PID Controller Design and Steering Angle Control for Mobile Robot Turning
Park, Sang-Hyuk; Choi, Won-Hyuck; Jie, Min-Seok;
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 Abstract
Researching and developing mobile robot are quite important. Autonomous driving of mobile robot is important in various working environment. For its autonomous driving, mobile robot detects obstacles and avoids them. Purpose of this thesis is to analyze kinematics model of the mobile robot and show the efficiency of type-2 fuzzy self-tuning PID controller used for controling steering angle. Type-2 fuzzy is more flexible in verbal expression than type-1 fuzzy because it has multiple values unlike previous one. To compare these two controllers, this paper conduct a simulation by using MATLAB Simulink. The result shows the capability of type-2 fuzzy self-tuning PID is effective.
 Keywords
Mobile robot;Type-2 fuzzy controller;Self-tuning proportional-integral-derivative;Steering angle control;MATLAB simulink;
 Language
Korean
 Cited by
 References
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