Motion Control of Autonomous Mobility System Using Fuzzy-PID Controller

Abstract

Autonomous mobility systems play a pivotal role in enhancing the quality of life and independence of users who are suffering from mobility restrictions. This research work presents a novel approach in the design and implementation of a Fuzzy-PID control strategy for the velocity control of a differential drive type wheelchair system. Smart autonomous wheelchairs offer maneuverability and versatility but precise motion control of these systems is crucial for overall user comfort, safety and safe path planning. The proposed strategy combines the adaptability of Fuzzy logic with the precision of PID control strategy to enhance the performance of the system in dynamic operating conditions. The design process involves kinematic modeling of the system, development of hybrid Fuzzy-PID control strategy and tuning of PID controller using MATLAB/Simulink toolbox. Through comprehensive design of the system and testing by using different simulations, this control strategy offers superior tracking accuracy, minimal response time and improved stability and robustness. Overall the combination of fuzzy logic with conventional PID control strategy offers promising results as compared to standalone PID and Fuzzy control strategies in the field of Rehabilitation engineering and Assistive technology