Type-2 Fuzzy Self-Tuning PID Controller Design and Steering Angle Control for Mobile Robot Turning

이동로봇 선회를 위한 Type-2 Fuzzy Self-Tuning PID 제어기 설계 및 조향각 제어

  • Received : 2016.04.25
  • Accepted : 2016.06.29
  • Published : 2016.06.30


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.


Mobile robot;Type-2 fuzzy controller;Self-tuning proportional-integral-derivative;Steering angle control;MATLAB simulink


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Grant : 공항운영

Supported by : 한국산업기술시험원