Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller

Tayfun Abut; Enver Salkım

doi:10.17798/bitlisfen.1753970

Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller

Abstract

This study addresses the trajectory tracking problem of wheeled mobile robots and proposes two different control strategies, which are comparatively evaluated through simulations. Initially, the mathematical model of the mobile robot is derived, followed by the design of two controllers: a conventional Proportional-Integral-Derivative (PID) controller and a Type-II Fuzzy Logic Controller (Type-II FLC) optimized utilizing the Grey Wolf Optimizer (GWO) algorithm. The suggested control methods are assessed under three different reference trajectory scenarios—circle, square, and star-shaped paths. Simulation results indicate that the PID controller exhibits significant deviations, particularly during sharp turns and sudden maneuvers in square and star trajectories, leading to increased tracking errors. In contrast, the GWO-based Type-II FLC demonstrates smoother and more stable maneuvers, resulting in lower tracking errors and higher trajectory-following accuracy. These findings suggest that the GWO-optimized Type-II FLC enables more reliable and precise navigation of mobile robots in dynamic environments contrasted to the classical PID controller. Furthermore, the Type-II FLC method achieved considerable percentage improvements in tracking performance for circular, square, and star trajectories when contrasted with the PID controller. Specifically, in a square orbit, the X and Y position errors have been improved by 98% and 97%, respectively, according to the Type II FLC, PID control method. Overall, the results highlight the effectiveness of the suggested control method in enhancing position control accuracy.

Keywords

Supporting Institution

This work was supported by Muş Alparslan University Scientific Research Coordination Unit Project Number, as a project numbered BAP-24-MMF-4901- 03.

Project Number

BAP-24-MMF-4901- 03

Ethical Statement

This article does not contain any studies with human participants or animals performed by any of the authors.

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Details

Primary Language

English

Subjects

Control Engineering, Machine Theory and Dynamics

Journal Section

Research Article

Authors

Tayfun Abut ^*
0000-0003-4646-3345
Türkiye

Enver Salkım
0000-0002-7342-8126
Türkiye

Publication Date

December 31, 2025

Submission Date

July 30, 2025

Acceptance Date

December 23, 2025

Published in Issue

Year 2025 Volume: 14 Number: 4

DOI

https://doi.org/10.17798/bitlisfen.1753970

IZ

https://izlik.org/JA93GB56LD

Cite

RIS / Bibtex

APA

Abut, T., & Salkım, E. (2025). Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, 14(4), 2523-2551. https://doi.org/10.17798/bitlisfen.1753970

AMA

1.Abut T, Salkım E. Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2025;14(4):2523-2551. doi:10.17798/bitlisfen.1753970

Chicago

Abut, Tayfun, and Enver Salkım. 2025. “Trajectory Tracking of a Mobile Robot With GWO-Based Type-II Fuzzy Logic Controller”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 14 (4): 2523-51. https://doi.org/10.17798/bitlisfen.1753970.

EndNote

Abut T, Salkım E (December 1, 2025) Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 14 4 2523–2551.

IEEE

[1]T. Abut and E. Salkım, “Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller”, Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 14, no. 4, pp. 2523–2551, Dec. 2025, doi: 10.17798/bitlisfen.1753970.

ISNAD

Abut, Tayfun - Salkım, Enver. “Trajectory Tracking of a Mobile Robot With GWO-Based Type-II Fuzzy Logic Controller”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 14/4 (December 1, 2025): 2523-2551. https://doi.org/10.17798/bitlisfen.1753970.

JAMA

1.Abut T, Salkım E. Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2025;14:2523–2551.

MLA

Abut, Tayfun, and Enver Salkım. “Trajectory Tracking of a Mobile Robot With GWO-Based Type-II Fuzzy Logic Controller”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 14, no. 4, Dec. 2025, pp. 2523-51, doi:10.17798/bitlisfen.1753970.

Vancouver

1.Tayfun Abut, Enver Salkım. Trajectory Tracking of a Mobile Robot with GWO-Based Type-II Fuzzy Logic Controller. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2025 Dec. 1;14(4):2523-51. doi:10.17798/bitlisfen.1753970