Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot)

Abstract

Purpose

The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive wheeled mobile robot (WMR) of the type Quanser Qbot.

Design/methodology/approach

Fuzzy robot control approach is used for developing a robust fuzzy PD controller for trajectory tracking of a nonholonomic differential drive WMR. The linear/angular velocity of the differential drive mobile robot are formulated such that the tracking errors between the robot’s trajectory and the reference path converge asymptotically to zero. Here, a new controller zero-order Takagy–Sugeno trajectory tracking (ZTS-TT) controller is deduced for robot’s speed regulation based on the fuzzy PD controller. The WMR used for the experimental implementation is Quanser Qbot which has two differential drive wheels; therefore, the right/left wheel velocity of the differential wheels of the robot are worked out using inverse kinematics model. The controller is implemented using MATLAB Simulink with QUARC framework, downloaded and compiled into executable (.exe) on the robot based on the WIFI TCP/IP connection.

Findings

Compared to other fuzzy proportional-integral-derivative (PID) controllers, the proposed fuzzy PD controller was found to be robust, stable and consuming less resources on the robot. The comparative results of the proposed ZTS-TT controller and the conventional PD controller demonstrated clearly that the proposed ZTS-TT controller provides better tracking performances, flexibility, robustness and stability for the WMR.

Practical implications

The proposed fuzzy PD controller can be improved using hybrid techniques. The proposed approach can be developed for obstacle detection and collision avoidance in combination with trajectory tracking for use in environments with obstacles.

Originality/value

A robust fuzzy logic PD is developed and its performances are compared to the existing fuzzy PID controller. A ZTS-TT controller is deduced for trajectory tracking of an autonomous nonholonomic differential drive mobile robot (i.e. Quanser Qbot).

Citation

Alouache, A. and Wu, Q. (2018), "Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot)", Industrial Robot, Vol. 45 No. 1, pp. 23-33. https://doi.org/10.1108/IR-07-2017-0128