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

Abstract

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.