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Adaptive Fuzzy FOPID Control Scheme for Path tracking of Mobile Robot

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2018
Turki Y. Abdalla

Turki Y Abdalla. Adaptive Fuzzy FOPID Control Scheme for Path tracking of Mobile Robot. International Journal of Computer Applications 181(22):1-5, October 2018. BibTeX

	author = {Turki Y. Abdalla},
	title = {Adaptive Fuzzy FOPID Control Scheme for Path tracking of Mobile Robot},
	journal = {International Journal of Computer Applications},
	issue_date = {October 2018},
	volume = {181},
	number = {22},
	month = {Oct},
	year = {2018},
	issn = {0975-8887},
	pages = {1-5},
	numpages = {5},
	url = {},
	doi = {10.5120/ijca2018917887},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


This paper present a new control method for path tracking of mobile robot based on using fuzzy logic and FOPID controller . Two FOPID controllers are used. Parameters of the two FOPID controllers are optimized offline using genetic algorithm.. These optimized FOPID controllers are used for speed control and azimuth control. Parameters of these controller are adjusted online via fuzzy system. Each FOPID controller is supported by a fuzzy controller for adjusting the parameters online. The adjusting mechanism in the designed control scheme work well when there are variations in the plant parameters and changes in operating conditions.


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Mobile Robot, Particles Swarm Optimization,fuzzy control, FOPID Controller, Trajectory tracking.