Fuzzy-PID-based trajectory tracking for 3WIS robot

This paper presents a trajectory tracking approach for a three-wheel independent steering (3WIS) robot using a fuzzy PID controller. The kinematic model of the 3WIS robot is introduced, highlighting its capability for omnidirectional motion control. A comparison is made between traditional PID controllers and fuzzy PID controllers, emphasizing the advantages of the latter in handling nonlinear systems. The concept of fuzzy PID control is explained, and fuzzy rules for parameter adjustment are proposed. The accuracy of the kinematic model and the effectiveness of the fuzzy PID controller are verified through simulation using the Webots platform and real-world experiment. Results indicate successful trajectory tracking, although slight fluctuations in the heading angle are observed due to frictional torque and gear backlash. The findings validate the accuracy of the kinematic model and the effectiveness of fuzzy PID controller in trajectory tracking.