Fuzzy adaptive PI control of omni-directional mobile robot

In this paper a fuzzy adaptive PI controller is employed for the purpose of the mobile robots motion control. This structure can improve the performance of the closed-loop system in the presence of uncertainties and model nonlinearities. A simple dynamical model is proposed for small motions in position and altitude coordinates of the robot. A fuzzy logic algorithm is designed to adjust PI controller parameters. The fuzzy inference rules are established by using the tracking error and its derivative. Step response specifications are employed to show the performance of the proposed controller. Simulation results demonstrate that the fuzzy adaptive PI controller has effectively improved the closed-loop performance in comparison with the conventional PI controller.