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A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot

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Main Authors: Aminurrashid, Noordin, Azhan, Ab Rahman, Nur Afifah, Ismail, Mohd Azli, Salim, Adzni, Md. Saad, Nor Azmmi, Masripan, Nurfaizey, Abdul Hamid, Faizil, Wasbari, Mohd Zaid, Akop, Mustafa, Saad Khalifa
Other Authors: aminurrashid@utem.edu.my
Format: Article
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2022
Subjects:
Trajectory tracking
Wheeled mobile robot
Fuzzy logic
PID
Kinematic model
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/73365
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spelling my.unimap-733652022-01-14T02:01:01Z A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot Aminurrashid, Noordin Azhan, Ab Rahman Nur Afifah, Ismail Mohd Azli, Salim Adzni, Md. Saad Nor Azmmi, Masripan Nurfaizey, Abdul Hamid Faizil, Wasbari Mohd Zaid, Akop Mustafa, Saad Khalifa aminurrashid@utem.edu.my Trajectory tracking Wheeled mobile robot Fuzzy logic PID Kinematic model Link to publisher's homepage at http://ijneam.unimap.edu.my Trajectory tracking involves with the geometric path and the timing law of a two-wheeled mobile robot (WMR). Due to its unlimited work area, mobile robots have a broad spectrum of applications. Trajectory tracking feature in a WMR is designed to enable the robot to follow a reference path. To further analyse this feature, this paper discusses a two-wheeled mobile robot mathematical model using a kinematic model and then compares the trajectory performance of two controllers; namely PID and Fuzzy Logic. The presented controller was designed using MATLAB/Simulink software. The observation on the controllers performance is by Integral Square Error (ISE) where Fuzzy Logic Controller was found to increase the performance of the PID controller by 50%. The result indicated that Fuzzy Logic Controller performs better than the PID controller because of its ability to minimize the error produced during the WMR trajectory tracking. 2022-01-14T02:01:01Z 2022-01-14T02:01:01Z 2021-08 Article International Journal of Nanoelectronics and Materials, vol.14(Special Issue), 2021, pages 387-394 1985-5761 (Printed) 1997-4434 (Online) http://dspace.unimap.edu.my:80/xmlui/handle/123456789/73365 http://ijneam.unimap.edu.my en Universiti Malaysia Perlis (UniMAP)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Trajectory tracking
Wheeled mobile robot
Fuzzy logic
PID
Kinematic model
spellingShingle Trajectory tracking
Wheeled mobile robot
Fuzzy logic
PID
Kinematic model
Aminurrashid, Noordin
Azhan, Ab Rahman
Nur Afifah, Ismail
Mohd Azli, Salim
Adzni, Md. Saad
Nor Azmmi, Masripan
Nurfaizey, Abdul Hamid
Faizil, Wasbari
Mohd Zaid, Akop
Mustafa, Saad Khalifa
A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
description Link to publisher's homepage at http://ijneam.unimap.edu.my
author2 aminurrashid@utem.edu.my
author_facet aminurrashid@utem.edu.my
Aminurrashid, Noordin
Azhan, Ab Rahman
Nur Afifah, Ismail
Mohd Azli, Salim
Adzni, Md. Saad
Nor Azmmi, Masripan
Nurfaizey, Abdul Hamid
Faizil, Wasbari
Mohd Zaid, Akop
Mustafa, Saad Khalifa
format Article
author Aminurrashid, Noordin
Azhan, Ab Rahman
Nur Afifah, Ismail
Mohd Azli, Salim
Adzni, Md. Saad
Nor Azmmi, Masripan
Nurfaizey, Abdul Hamid
Faizil, Wasbari
Mohd Zaid, Akop
Mustafa, Saad Khalifa
author_sort Aminurrashid, Noordin
title A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
title_short A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
title_full A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
title_fullStr A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
title_full_unstemmed A performance comparison of PID and Fuzzy Logic Control methods for trajectory tracking of wheeled mobile robot
title_sort performance comparison of pid and fuzzy logic control methods for trajectory tracking of wheeled mobile robot
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2022
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/73365
_version_ 1724610034966462464
score 13.211869

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