| An effort was made to investigate and control the velocity and azimuth of a robot (a) using a fuzzy logic controller along with a PID controller, and (b) the fuzzy logic controller alone, and comparing the results. One of the primary reasons for examining the results of the two controllers was to find out the better method to control the motion of robots. A physical, and corresponding theoretical, model for the motion of a two-wheel mobile robot was considered. The computer implementation was based on Matlab/Simulink, with the equations of motion for the mobile robot being used to build a simulink representation of the system. The response of the mobile robot with a PID controller along with a fuzzy logic controller was studied first, and then a fuzzy logic controller was used alone in the desired robotic system. The system was studied for different desired motions, and it was found that the fuzzy logic controller with the PID controller works better than the fuzzy logic controller alone, for most of the investigated conditions. Firstly, a sinusoidal input, and later, a ramp input was given to the system, and in both cases, a considerable improvement was found in the output response when a fuzzy logic controller along with a PID controller was used in the system. |
