Studying Master Thesis in the Department of Control and Systems Engineering of Type Two Fuzzy Logic Kinematic Controller for Trajectory Tracking of Mobile Rob

The student (Mustafa Yousef Abbas) has gained  a master's degree (very good) for his thesis (Two Fuzzy Logic Kinematic Controller for Trajectory Tracking of Mobile Robot ) . has Presented to the control branch in the Department of Engineering Control and Systems on Wednesday, 25-10-2017 And on the postgraduate hall at  the department .

Abstract: -

In this work, a trajectory tracking control for a differential wheeled mobile robot (WMR) system is presented.A big number of investigations have been used the kinematic model of mobile robot which is a nonlinear model in nature. This work focuses on the design a three types of fuzzy controller, the first is fuzzy like PD+I, fuzzy like PI+PD, and Interval Type-2 fuzzy like PI+PD controllers, with a firefly optimization to find the best values of controllers parameters. Matlab Simulation results show a good performance and robust of an Interval Type-2 fuzzy controller with respect to the other type-1 fuzzy controller, by minimizing tracking error and smooth velocity, especially with presence an external disturbance or uncertainty.