search for


Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot with Differential Drive
Int. J. Fuzzy Log. Intell. Syst. 2018;18(3):220-228
Published online September 25, 2018
© 2018 Korean Institute of Intelligent Systems.

Do Khac Tiep1, Kinam Lee1, Dae-Yeong Im2, Bongwoo Kwak2, and Young-Jae Ryoo1

1Department of Electric and Control Engineering, Mokpo National University, Jeonnam, Korea
2EV Components & Materials R&D Group, Korea Institute of Industrial Technology, Gwangju, Korea
Correspondence to: Young-Jae Ryoo
Received May 28, 2018; Revised September 3, 2018; Accepted September 22, 2018.
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
In this paper, a design of a fuzzy-PID controller for path tracking of a mobile robot with differential drive is proposed. The fuzzy-PID controller consists of a PID controller and a fuzzy controller with two inputs and three outputs. When the system response has the error and the error rate, the fuzzy controller can tune the parameters of the PID controller. The model based on Lagrange dynamic approach for a robot with differential drive is described. The fuzzy-PID controller and the classical PID controller are compared by simulation. The path tracking of a mobile robot with differential drive was tested using MATLAB/Simulink. The simulation results show that the fuzzy-PID controller has a better performance than the classical PID controller. The proposed controller has better convergence rate in comparison with the classical PID controller for a mobile robot with any arbitrary initial state. It has the advantages of rapid respond, high stability, tracking accuracy and good anti-interference, so the fuzzy-PID controller is the appropriate choice for path tracking control of mobile robots with differential drive
Keywords : Differential drive, Mobile robot, Path tracking, Fuzzy-PID controller, MATLAB/Simulink