Comparative Study of P, PI, Fuzzy and Fuzzy PI Controllers in Position Control for Omnidirectional Robots

Abstract

This paper presents the design and analysis of different controller schemes for a three wheeled omnidirectional robot, that is, a robot which can be driven by the control of three independent velocity variables: over (Forumala Presented). linear directions and a rotational direction to perform complex motions. Conventional Proportional, Proportional-Integral, Fuzzy and Fuzzy PI controllers are designed based on the kinematic behavior of the holonomic mobile omnidirectional robot. Velocities of the Robot are estimated by using an odometer module. Also, the implementation performed in Simulink tool of Matlab of the different schemes is presented. The control objective for these designs is to drive the two linear command velocities of the robot and to do it goes from an initial position to a final position without obstacles. Finally, a comparative analysis of the studied controllers in time and distance is performed for determining the performance using a Robotino simulation tool of Festo, which provides an uncertainty environment for the robot control.