Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms

Table 3

Fuzzy rules table for assigning the K_I.

Δe	Error
	NB	NS	ZO	PS	PB
NB	S	M	M	M	S
NS	B	B	B	B	B
ZO	B	B	BV	VB	VB
PS	B	B	B	B	B
PB	S	S	M	M	S