Research on Fuzzy-PID Control System for Mecanum Robot

Abstract

In this paper, a comprehensive control system for precise motion control and trajectory tracking of Four Mecanum-Wheeled Mobile Robots (FMWMRs) is presented. The proposed approach addresses issues including nonlinearities, uncertainties, and external disturbances by combining a fuzzy logic controller for orientation control and a fuzzy-PID controller for position control. The dynamic model of the FMWMR is summarized. For localization and heading angle estimates, an IMU sensor and a camera are leveraged, and a complementary filter method is utilized for the best possible sensor fusion. A real-world FMWMR prototype and extensive Matlab/ Simulink simulations show how reliable and effective the control system is at providing accurate trajectory tracking with low RMS errors under a range of loading scenarios. With possible applications in material handling, mobile robotics, and industrial automation, the suggested approach provides a dependable solution for trajectory tracking and motion control in FMWMRs.