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Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot

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Abstract

This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted to the robot dynamics. To design the KC, we present a simple and effective way of actualizing the KC based on the extended nonlinear kinematic model of the differential-drive mobile robots. The stability of the tracking system with the proposed KC is proved based on the Lyapunov stability theory. Moreover, the fuzzy technique is also applied to the KC to enhance the quality of the tracking control when the reference trajectory has rapid changes in terms of coordinates or velocities. In this study, the computer simulation results show the high feasibility of the proposed KC.

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Acknowledgment

This work was supported by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture and Forestry(IPET) through Smart Plant Farming Industry Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MA-GRA) (119093-1).

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Authors and Affiliations

  1. Department of Electrical Engineering, Mokpo National University, Mokpo, South Korea

    Tran Quoc Khai & Woo-Ram Gill

  2. Department of Electrical and Control Engineering, Mokpo National University, Mokpo, South Korea

    Young-Jae Ryoo

  3. Department of EV Components & Materials, R&D Group, Korea Institute of Industrial Technology, Gwangju, South Korea

    Woo-Ram Gill & Dae-Yeong Im

  4. Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Transport, Ho Chi Minh, Vietnam

    Tran Quoc Khai

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  1. Tran Quoc Khai
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  2. Young-Jae Ryoo
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  4. Dae-Yeong Im
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Correspondence to Young-Jae Ryoo.

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Khai, T.Q., Ryoo, YJ., Gill, WR. et al. Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot. Int. J. Fuzzy Syst. 22, 1972–1978 (2020). https://doi.org/10.1007/s40815-020-00842-9

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  • DOI: https://doi.org/10.1007/s40815-020-00842-9

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