Research Article
Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms
Table 5
Testing results, data for response analysis.
| | | Desired speed | Actual speed | Error | Overshoot | Settling time | 5T | Current, SS | Control signal, SS | ISE | IAE |
| | Test (1) | L: 0.5 | L: 0.5 | L: 0 | L: 0 | L: 11 | L: 13 | L: 5.764 | L: 0.5836 | L: 58.6 | L: 19.59 | | R: 0.5 | R: 0.5 | R: 0 | R: 0 | R: 11 | R: 13 | R: 5.764 | R: 0.5836 | R: 58.6 | R: 19.59 |
| | Test (2) | L: 0.475 | L: 0.475 | L: 0 | L: 0 | L: 11.5 | L: 13.4 | L: 5.482 | L: 0.5546 | L: 49.59 | L: 17.18 | | R: 0.5 | R: 0.5 | R: 0 | R: 0 | R: 11.5 | R: 13.4 | R: 5.764 | R: 0.5836 | R: 58.6 | R: 19.59 |
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