PID-like Fuzzy Controller Design for Anti-Slip System in Quarter-Car Robot

The design strategy of an adaptive Proportional-Integral-Derivative (PID)-like fuzzy controller for anti-slip Quarter-Car robotic system is proposed. proposed control constructed by two loops, external one lineal speed and internal loop current control. A motion profile used to follow a trajectory. slip computed, such as the difference between linear velocity given S-curve longitudinal calculated according rotational tire. This input loop. Whether significant, slave must do that both velocities go at same controlling direct (DC) motor. On other hand, mathematical model tire coupled DC-motor presented simulate response. To test robustness system, different scenarios are where coefficient varies depending on work surface. Three surfaces were selected performance controller, dry, wet, icy surfaces, while had