A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot

Saleem, Omer; Hamza, Ahmad; Iqbal, Jamshed

Abstract

This paper presents the constitution of a computationally intelligent self-adaptive steering controller for a lawn-mowing robot to yield robust trajectory tracking and disturbance rejection behavior. The conventional fixed-gain proportional–integral–derivative (PID) control procedure lacks the flexibility to deal with the environmental indeterminacies, coupling issues, and intrinsic nonlinear dynamics associated with the aforementioned nonholonomic system. Hence, this article contributes to formulating a self-adaptive single-neuron PID control system that is driven by an extended Kalman filter (EKF) to ensure efficient learning and faster convergence speeds. The neural adaptive PID control formulation improves the controller’s design flexibility, which allows it to effectively attenuate the tracking errors and improve the system’s trajectory tracking accuracy. To supplement the controller’s robustness to exogenous disturbances, the adaptive PID control signal is modulated with an auxiliary fuzzy-immune system. The fuzzy-immune system imitates the automatic self-learning and self-tuning characteristics of the biological immune system to suppress bounded disturbances and parametric variations. The propositions above are verified by performing the tailored hardware in the loop experiments on a differentially driven lawn-mowing robot. The results of these experiments confirm the enhanced trajectory tracking precision and disturbance compensation ability of the prescribed control method.

Citation

Saleem, O., Hamza, A., & Iqbal, J. (2024). A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot. Computers, 13(11), Article 301. https://doi.org/10.3390/computers13110301

• Journal Article Type: Article
• Acceptance Date: Nov 15, 2024
• Online Publication Date: Nov 16, 2024
• Publication Date: Nov 1, 2024
• Deposit Date: Nov 16, 2024
• Publicly Available Date: Nov 21, 2024
• Journal: Computers
• Print ISSN: 2073-431X
• Electronic ISSN: 2073-431X
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• Volume: 13
• Issue: 11
• Article Number: 301
• DOI: https://doi.org/10.3390/computers13110301
• Keywords: Lawn-mowing robot; Steering control; Single-neuron PID; Kalman filtering; Fuzzy immune system; Trajectory tracking; Disturbance rejection
• Public URL: https://hull-repository.worktribe.com/output/4920005