A Novel Self-Organizing PID Approach for Controlling Mobile Robot Locomotion

Gu, Xiaowei and Khan, Muhammad and Angelov, Plamen and Tiwary, Bikash and Shafipour Yourdshahi, Elnaz and Yang, Zhaoxu (2020) A Novel Self-Organizing PID Approach for Controlling Mobile Robot Locomotion. In: 2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) :. IEEE, pp. 1-10. ISBN 9781728169330

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Abstract

A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order autonomous learning multiple model (ALMMo) neuro-fuzzy system. The SOF-PID controller self-organizes and self-updates the structures and meta-parameters of both the control and reference models during the control process "on the fly". This gives the SOF-PID control system the capability of quickly adapting to entirely new operating environments without a full re-training. Moreover, the SOF-PID control system is free from user- and problem-specific parameters and is entirely data-driven. Simulations and real-world experiments with mobile robots demonstrate the effectiveness and validity of the proposed SOF-PID control system.