Optimizing PD-type fuzzy logic controller for position control of spherical robot

Kamis, Nurul Nafisah and Embong, Abd Halim and Ahmad, Salmiah (2020) Optimizing PD-type fuzzy logic controller for position control of spherical robot. In: 7th International Conference on Mechatronics Engineering (ICOM) 2019, 30 - 31 Oct 2019, Putrajaya.

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Abstract

Spherical robot has several advantages compared to another type of mobile robot that can be used in many applications. Controlling a rolling mechanism for this nonlinear system is highly challenging. This paper describes the optimization of the position control of spherical robot for rolling mechanism. Proportional-Derivative type Fuzzy Logic Control (PD-type FLC) has been proposed in this paper to control the position of spherical robot while rolling. Five triangular membership function of error, change of error and output voltage is designed, producing 25 rule-base using Mamdani fuzzy inference system. Then, Particle Swarm Optimization (PSO) technique is used to optimize both input and output gain of PD-type FLC. The final analysis of the optimized PD-type FLC has shown that the rise time and settling time of the spherical robot to achieve its desired position is reduced by 78% which is 1.2 min and 2.1 min respectively with no overshoot.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	7277/79654
Uncontrolled Keywords:	Fuzzy logic control, Intelligent controllers, Mamdani fuzzy inferences, Particle swarm optimization technique, Proportional derivati vesset target distance, Spherical robots, Triangular membership functions
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Abd Halim Embong
Date Deposited:	19 Mar 2020 15:47
Last Modified:	13 Jul 2020 11:21
URI:	http://irep.iium.edu.my/id/eprint/79654

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