{"id":3230,"date":"2026-04-10T11:53:49","date_gmt":"2026-04-10T03:53:49","guid":{"rendered":"https:\/\/iweb20wp-b205b.url.tku.edu.tw\/jase\/?post_type=tkuisotope&p=3230"},"modified":"2026-06-12T14:53:20","modified_gmt":"2026-06-12T06:53:20","slug":"adaptive-control-for-mobile-robots-based-on-inteligent-controller","status":"publish","type":"tkuisotope","link":"\/jase\/?tkuisotope=adaptive-control-for-mobile-robots-based-on-inteligent-controller","title":{"rendered":"Adaptive Control For Mobile Robots Based On Inteligent Controller"},"content":{"rendered":"\n
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<\/i> 2024<\/a><\/p>\n<\/div>\n\n\n\n

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<\/i> Volume 27, Issue 5<\/a><\/p>\n<\/div>\n\n\n\n

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Than Thi Thuong1<\/sup> and Vo Thanh Ha2<\/sup><\/i><\/a><\/p>\n\n\n\n

1<\/sup>Faculty of Electrical Engineering, University of Economics – Technology for Industries, Vietnam<\/p>\n\n\n\n

2<\/sup>Faculty of Electrical and Electronic Engineering, University of Transport and Communications, Vietnam<\/p>\n<\/div>\n\n\n\n

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Received:\u00a0December 18, 2022
Accepted:\u00a0August 19, 2023
Publication Date:\u00a0April 10, 2026<\/p>\n<\/div>\n<\/div>\n\n\n\n

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Fuzzy controller structure diagram for robot<\/p>\n<\/div>\n<\/div>\n\n\n\n

<\/i> Copyright <\/strong>The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0)<\/a>, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.<\/p>\n\n\n\n

Download Citation:\u00a0 BibTeX <\/a>| http:\/\/dx.doi.org\/10.6180\/jase.202405_27(5).0012<\/a>\u00a0\u00a0<\/p>\n\n\n\n

Download PDF<\/a><\/p>\n\n\n\n

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The paper presents three position controller designs for a mobile robot. The first is a position controller using a classic PID controller. The second is the position controller is designed based on optimal three coefficients for PID controller by fuzzy logic control (FLC). The last, the mobile robot is moved according to the trajectories set by the FLC controller. All three controllers have two state variables (position error and position deviation derivative and one output variable, velocity) and one velocity output variable of the robot. The robot is moved according to the trajectories set based on the PID-FLC controller flow fuzzy rules with a 7×7 matrix to the optimal three coefficients of the PID controller. Meanwhile, the FLC controller is done by a 9×9 matrix rule. Evaluated the efficiency of PID-FLC and FLC controllers are compared to classical PID controllers. The correctness of the three controllers is proven through MATLAB\/Simulink simulation. The PID-FLC controller has the result better than the other two controllers.<\/p>\n\n\n\n

Keywords:\u00a0Mobile Robot, PID, Fuzzy Logic Control, FLC, PID-Fuzzy<\/em><\/p>\n\n\n\n

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