Research on Fuzzy Control System for Two-Wheeled Differential Drive Robot

The control of speed and direction is a nonlinear problem in the automatic tracking process of two-wheeled differential drive robots. Firstly, the dynamic model, trajectory tracking model, and DC motor model of the robot are established. Secondly, a fuzzy control system is designed, which takes the distance deviation and angle deviation as input variables and the desired linear velocities of the left and right wheels as output variables. A fuzzy rule table is also designed. Finally, three sets of simulation experiments are conducted in the Matlab/Simulink environment. Among them, the fixed-point motion experiment demonstrates the superior performance of the fuzzy controller in improving the response speed and steady-state accuracy of the robot. The trajectory tracking experiment further illustrates the remarkable effectiveness of the fuzzy controller in enhancing the robot’s following characteristics. The research results provide strong support and experience for the trajectory tracking and navigation of robots in practical applications.