A fuzzy compensated PID controller for formation control of mobile robots

In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. So a fuzzy compensator is added to improve control performance. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.