Design and Implementation of a Hybrid PD-Fuzzy Controller to Improve Trajectory Tracking in Differential Drive Mobile Robots

Perez H.G.G.; Acuna C.A.C.; Alcantara J.H.A. · Proceedings of the IEEE International Conference on Control Science and Systems Engineering/ICCSSE (2025) · DOI: 10.1109/iccsse67426.2025.11552526

Resumen

Line follower robots are a category of differential mobile robots widely used in industrial applications and robotics competitions. The primary objectives in these competitions are high-speed performance and precise motion control. In this work, a hybrid fuzzy PD controller was developed and implemented in a competition-level line follower robot equipped with 16 infrared sensors and an ARM Cortex microcontroller. A comparative analysis between the conventional PD controller and the proposed hybrid controller PD Fuzzy demonstrates significant improvements with the latter: an 8.71% reduction in lap time, 42.62% lower overshoot, 45.58% shorter settling time, and 52.65% reduction in mean squared error (MSE), and a 9.6% increment in average speed, as well as more stable movement and better adaptation to variations in the track trajectory.

Instituciones: Universidad Nacional de Trujillo