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

Table 2

Fuzzy rules table for assigning the K_D.

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