Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller

1997 ◽  
Vol 9 (2) ◽  
pp. 160-167
Author(s):  
Jun Tang ◽  
◽  
Keigo Watanabe ◽  
Akira Nomiyama ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Fuzzy Controller ◽  
Control Object ◽  
Circular Path ◽  
Unknown Parameters ◽  
Trajectory Tracking Control ◽  
Practical Applications ◽  
The Stability

This paper presents a new design for a fuzzy controller, called ""stochastic fuzzy control."" It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.

Fuzzy Controller Design Used for Steel Length Measurement

2011 ◽  
Vol 383-390 ◽  
pp. 5176-5181
Author(s):  
Chong Sheng Hou
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Steel Plate ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Steel Plates ◽  
Control Technology ◽  
Practical Applications ◽  
Learning Function ◽  
Self Learning

The accurate measurement of the length of steel plate is the key to control technology for cross-cutting production line. Three steel plates determining-length control algorithms were deeply analyzed, in the set-length control strategy fuzzy control technology was introduced, and determining-length fuzzy controller structure and realization was analyzed; In order to improve the accuracy of steel plate crosscut, on the basis of the fuzzy control system self-learning function and artificial self-learning function were increased. Practical applications show that technical advancement, reliability of the control system and shear plate accuracy are high, fully meet the requirements of control.

The Structure to a Brachiation Inspection Robot and its Fuzzy Control for Obstacle-Negotiation

2013 ◽  
Vol 278-280 ◽  
pp. 622-628 ◽  
Author(s):  
Yong Xie ◽  
Ai Ping Xiao ◽  
Jian Wu ◽  
Guang Liu
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Inverse Kinematics ◽  
Fuzzy Controller ◽  
The Body ◽  
Virtual Simulation ◽  
Simulation Technology ◽  
Work Requirements ◽  
Inspection Robot ◽  
The Stability

Through the analysis of the structure of the existing Bachiation Inspection Robot, the thesis summed up the existing shortcomings, put forward an improved structure which makes the robot grasp the line accurately in the process of obstacles in mountainous forest areas, in order to ensure the stability of the body, and avoid the additional torque generated in the process; for the improvement of the structure, the thesis established positive and inverse kinematics research on the Bachiation Inspection Robot through the kinematics model established in D-H method; finally, designed a fuzzy controller to achieve the body’s ascension (down) movement, built program diagram using Simulink tool of MATLAB, analyzed the stability of the fuzzy control system. The end of the thesis further verified the feasibility of structured of the robot through virtual simulation technology, proved that the robot can meet the more steady work requirements in crossing the obstacles.

The Path Planning Control of a Mobile Robot Based on Fuzzy and Fuzzy Adaptive PID

2015 ◽  
Vol 713-715 ◽  
pp. 876-880 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Control System ◽  
Path Planning ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Real Time ◽  
Fuzzy Controller ◽  
Target Point ◽  
Time Planning ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The purpose of this paper is to suggest and examine a control system with a fuzzy controller and a fuzzy-PID controller to solve the problem of mobile robot path planning. The environment information about obstacles and the goal has been detected by using sensors. The system divides environment situations into two types the obstacle mode and non-obstacle mode. In view of the oscillation problem existing in fuzzy control when there is no obstacle, this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode. The robot performs the real-time planning choice by path planning selector, and the control system is simulated by Matlab software. The simulation result shows that the control strategy has the characteristics of faster response, better real-time performance and achieves a better path from the start point to the target point.

Design and Simulation of Temperature Control System in Intermittent Reaction Kettles Based on Intelligent Fuzzy Control

2013 ◽  
Vol 380-384 ◽  
pp. 294-297 ◽  
Author(s):  
Xin Wei Li
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Pid Control ◽  
Elevated Temperatures ◽  
Fuzzy Controller ◽  
Dynamic Performance ◽  
Temperature Curve ◽  
Time Variable ◽  
Temperature Control System ◽  
New Type

A temperature rising control system and temperature maintaining control system were designed in according to time-variable and hysteretic nature of temperature change and limitation when traditional PID control deals with nonlinear systems. A new type of intelligent fuzzy controller combination of traditional PID control and fuzzy control was designed and applied in temperature maintaining control system. The simulation results show that the holding phase at elevated temperatures and temperature, the temperature curve has a high steady-state accuracy and dynamic performance in the period of temperature rising and maintaining, and the system and controller cause a better result.

scholarly journals Research on Automation of Test Skill Evaluation Based on Fuzzy Controller

2021 ◽  
Vol 2136 (1) ◽  
pp. 012050
Author(s):  
Chunbao Liu ◽  
Sheng Zhang
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Development Trend ◽  
Intelligent Control System ◽  
On Chip ◽  
Basic Features ◽  
Skill Evaluation ◽  
The Mathematical Model ◽  
The Development Trend

Abstract The fuzzy control system is composed of an integral part of modern intelligent automatic control, can control of precision is difficult to directly establish the mathematical model of the intelligent control system object data for effective fuzzy control, so fuzzy has wide application field, considering the basic features of fuzzy control arithmetic, more close to the parallel processing of the way of fuzzy data stream, so fuzzy control is more suitable for implementation by a special control circuit, not only can not only improve the speed of data processing, and it also can improve the control system running stability. With the improvement of programming logic and programmable ability of FPGA, FPGA has the necessary ability to implement ASIC directly and meet the requirements of system programming and design on chip. It has become the development trend of FPGA. The fuzzy analog controller can be used as a digital analog controller of a DC/DC fuzzy converter. In the absence of Matlab/Simulinkc environment, a DC/DC fuzzy converter can be modeled by using Maplecs toolbox. The simulation test results firstly verify the practical feasibility of the fuzzy analog controller. Then PLXILINXXC3S500EFPGA chip is used to realize the fuzzy simulation controller, and good simulation results are obtained.

The Fuzzy Control Method in Semi-Active Suspension

2010 ◽  
Vol 159 ◽  
pp. 644-649
Author(s):  
Jing Hua Zhao ◽  
Wen Bo Zhang ◽  
He Hao
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Simulation Analysis ◽  
Reference Model ◽  
Active Suspension ◽  
Vibration Characteristic ◽  
Acceleration Signal ◽  
Logic Control

Based on the analysis of performance of vehicle and its suspension, half vehicle model of five DOF and road model were built and the dynamic equations of half vehicle were derived according to the parameters of a commercial vehicle. In addition, a novel fuzzy logic control system based on semi-active suspension was introduced to achieve the optimal vibration characteristic, with changing the adjustable dampers according to dynamic vertical body acceleration signal. The fuzzy control was designed based on non-reference model method that acceleration value was sent to the fuzzy controller directly. And then, simulation analysis of semi-active suspension with fuzzy control method were implemented on the B-class road surface. The results showed that the semi-active suspension control system introduced in this paper has better performance on vieicle vibration characteristic, compared to passive suspension.

scholarly journals Research of the Design Feasibility of a 3-Wheel Electric Vehicle with a Simplified Control System

2020 ◽  
Vol 14 (1) ◽  
pp. 32-35
Author(s):  
Srđan Medić ◽  
Veljko Kondić ◽  
Tihomir Mihalić ◽  
Vedran Runje
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Fem Analysis ◽  
Steering Wheel ◽  
Circular Path ◽  
Main Concern ◽  
The Finite Element Method ◽  
Vehicle Aerodynamics ◽  
Computational Fluid Dynamics Cfd ◽  
The Stability

The need for a simple, customised electric vehicle (EV) has inspired the research of the possibility to build a simple EV tailored for the specific needs of the buyer. This paper is focused on the concept of an EV with no conventional control mechanism. In this paper, a research of user needs, vehicle dynamics, vehicle aerodynamics, type of drive and batteries was carried out. EV aerodynamics characteristics were simulated by using the Computational Fluid Dynamics (CFD) software. The control system was designed in correlations with the maximal safe velocity and the radius of EV turning on a circular path. The stability of the EV, concerning the vehicle turning over and wheels slipping while driving in the curves, was the main concern of this paper. The steering wheel and brake pad were replaced with a control stick. Using the Finite Element Method (FEM) analysis, key parts of the construction were constructed.

Application of Fuzzy Control in Transformer Cooling System

2011 ◽  
Vol 383-390 ◽  
pp. 1262-1266
Author(s):  
Zhen Guo Jia
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Cooling System ◽  
Lookup Table ◽  
Control Rules ◽  
Cooling Control ◽  
System Energy ◽  
Automation Level

Designed a device with PLC and inverter for transformer cooling control system. The structure of fuzzy controller is built with PLC. By calculating and testing, fuzzy and fuzzy control rules are established. Practical computing for the PLC to control the output lookup table is given. Using this technique, transformer cooling system energy consumption will be reduced, transformer’s coolers life will be extended and transformer cooling system automation level will be increased.

Research of Temperature Control System Based on Fuzzy Control Algorithm for Mixer

2009 ◽  
Vol 87-88 ◽  
pp. 288-292 ◽  
Author(s):  
Chuan Sheng Wang ◽  
Fu Hai Zhou
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Cooling Water ◽  
Host Computer ◽  
Temperature Control System ◽  
Control Value ◽  
Fuzzy Control Algorithm

The changes of temperature in the rubber mixing process is of great significance. How to ensure the changes of temperature in rubber mixing is an important issue. The article introduces the temperature control system based on the fuzzy control algorithm. Using the host computer as the fuzzy controller, and the host computer educes the control value based on the difference between the reference input and the measure value. The system automatically discharges of high temperature water and automatically adds the appropriate amount of cooling water. The system can ensure the stability of the mixing temperature and ensure the quality of rubber mixing.

PID Parameter Setting Based on Fuzzy Control Algorithm and its Application in the Temperature Control System of Airplane

2012 ◽  
Vol 588-589 ◽  
pp. 1503-1506
Author(s):  
Fang Ding ◽  
Tao Ma
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Control Algorithm ◽  
Control Method ◽  
Fuzzy Controller ◽  
Temperature Control System ◽  
System Control ◽  
Control Effect ◽  
Fuzzy Control Algorithm

This Temperature control system of aircraft cabin is a complex system with nonlinear, time-varying, model inaccurate and work environment uncertain. According to the system control requirements, the fuzzy controller with the characteristic of fast response speed, good stability and strong resistance to interference is used in the study. The system error is adjusted constantly by using fuzzy control algorithm and simulation study is conducted in the software Matlab. The results are showed that control effect of control method used in this study is better than the traditional PID control method, and dynamic performance, steady state accuracy and robustness of system is effectively improved.

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