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Comparison Between Fuzzy and Non-fuzzy Ordinary If–Then Rule-Based Control for the Trajectory Tracking of a Differential Drive Robot

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Abstract

The paper proposes fuzzy and non-fuzzy controllers as two control techniques for trajectory tracking of a differential drive mobile robot. The first approach relies on fuzzy logic. Fuzzy logic systems represent knowledge via fuzzy rules. The large number of possible rules complicates the controller and has an impact on timing decision. Logic methods like Karnaugh maps and Quine McCluskey's algorithm have been offered as ways to adapt and reduce the amount of fuzzy rules. An approach based on Karnaugh maps to reduce the number of fuzzy rules without binary coding has been proposed. The second technique, on the other hand, is a non-fuzzy approach that employs the same rules as the reduced fuzzy controller, namely, non-fuzzy (ordinary) If–then rules. Simulation tests and a comparison of fuzzy and non-fuzzy controllers were used to test the efficiency of the proposed controllers.

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Authors and Affiliations

  1. Department of Automatics and Electroomechanics, Faculty of Science and Technology, University of Ghardaia, 47000, Ghardaia, Algeria

    Nacer Hacene, Mohcene Bechouat & Radhwane Sadouni

  2. Laboratory of Industrial Technology and Information (LTII), Faculty of Technology, University of Bejaia, 06000, Bejaia, Algeria

    Nacer Hacene & Boubekeur Mendil

  3. Telecommunications Laboratory, University May 8, 1945 Guelma, Guelma, Algeria

    Mohcene Bechouat

  4. Laboratory of Materials, Energy Systems Technology and Environment, University of Ghardaia, BP 455, 47000, Ghardaia, Algeria

    Radhwane Sadouni

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  1. Nacer Hacene
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Correspondence to Nacer Hacene.

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Hacene, N., Mendil, B., Bechouat, M. et al. Comparison Between Fuzzy and Non-fuzzy Ordinary If–Then Rule-Based Control for the Trajectory Tracking of a Differential Drive Robot. Int. J. Fuzzy Syst. 24, 3666–3687 (2022). https://doi.org/10.1007/s40815-022-01365-1

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