Simulation for Improvement of Controllers’ Response for DC Motor with Application to a Mobile Robot

Shameem Hasan, Golam Sarowar

Abstract


In this study, different precise and appropriate control systems for wheel speed and steering of a mobile robot that use a DC motor, have been simulated for improved controllers’ response. Three controllers: lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in order to control the angular speed of the shaft of a DC motor actuator for the robot. The response of the actuator for each controller was ascertained and compared applying a sinusoidal and a step input that simulated speed and position of the mobile robot. The performance analysis showed that the lead-lag compensator and PID controller were effective for the wheel steering task, while the fuzzy logic controller was efficient for wheel speed control. Considering the improved performance of the robot in respect of speed of response, precision of speed control and steering capability, it seems reasonable to conclude that the proposed design criteria were effective and satisfactory.




DOI: http://doi.org/10.11591/ijpeds.v11.i2.pp%25p
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