全方向移動ロボットの軌道追従におけるNMPCとファジィPID制御器の比較：設計・シミュレーション・性能評価
Comparative Analysis of NMPC and Fuzzy PID Controllers for Trajectory Tracking in Omni-Drive Robots: Design, Simulation, and Performance Evaluation
全方向移動ロボットの軌道追従のために、自己最適化型ファジィPIDと区間タイプ2ファジィPID、非線形モデル予測制御器（NMPC）を設計し、シミュレーションで追従精度と計算負荷を比較した。
著者: Love Panta
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Trajectory tracking for an Omni-drive robot presents a challenging task that demands an efficient controller design. This paper introduces a self-optimizing controller, Type-1 fuzzyPID, which leverages dynamic and static system response analysis to overcome the limitations of manual tuning. To account for system uncertainties, an Interval Type-2 fuzzyPID controller is also developed. Both controllers are designed using Matlab/Simulink and tested through trajectory tracking simulations in the CoppeliaSim environment. Additionally, a non-linear model predictive controller(NMPC) is proposed and compared against the fuzzyPID controllers. The impact of tunable parameters on NMPC tracking accuracy is thoroughly examined. We also present plots of the step-response characteristics and noise rejection experiments for each controller. Simulation results validate the precision and effectiveness of NMPC over fuzzyPID controllers while trading computational complexity. Access to code and simulation environment is available in the following link: https://github.com/love481/Omni-drive-robot-Simulation.git.