Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS

Christian Salamea-Palacios; Diego Zhindón; Luciano Cabrera

Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS

Translated title of the contribution: Location control of a mobile robot based on fuzzy PID and adaptive filtering LMS and RLS

Christian Salamea-Palacios, Diego Zhindón, Luciano Cabrera

Research Group on Interaction, Robotics and Automatics (GIIRA)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The development of traditional PID control systems requires mathematics to find the optimal tuning constants. In contrast, fuzzy controllers are simpler to use because their implementation is based on inference rules created by an expert. In this work, a PID fuzzy controller and an adaptive filter have been implemented in a children healthy treatment mobile robot prototype to control its position, evaluating different membership functions and the behavior of the adaptive filter against external disturbances. Simulink and Arduino have been used for this purpose by means of serial communication. The robot prototype has been designed using inventor, printed with 3D technology. The most efficient controller has been the PD controller, reaching a stability not achieved by the other controllers. The PD controller has been complemented with an adaptive RLS filter, which in turn was the one that obtained the minimum error compared to the LMS filter.

Translated title of the contribution	Location control of a mobile robot based on fuzzy PID and adaptive filtering LMS and RLS
Original language	Spanish
Title of host publication	Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology
Subtitle of host publication	Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023
Editors	Maria M. Larrondo Petrie, Jose Texier, Rodolfo Andres Rivas Matta
Publisher	Latin American and Caribbean Consortium of Engineering Institutions
ISBN (Electronic)	9786289520743
State	Published - 2023
Event	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023 - Buenos Aires, Argentina Duration: 19 Jul 2023 → 21 Jul 2023

Publication series

Name	Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology
Volume	2023-July
ISSN (Electronic)	2414-6390

Conference

Conference	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023
Country/Territory	Argentina
City	Buenos Aires
Period	19/07/23 → 21/07/23

Bibliographical note

Publisher Copyright:
© 2023 Latin American and Caribbean Consortium of Engineering Institutions. All rights reserved.

Cite this

Salamea-Palacios, C., Zhindón, D., & Cabrera, L. (2023). Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS. In M. M. Larrondo Petrie, J. Texier, & R. A. R. Matta (Eds.), Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023 (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology; Vol. 2023-July). Latin American and Caribbean Consortium of Engineering Institutions.

Salamea-Palacios, Christian ; Zhindón, Diego ; Cabrera, Luciano. / Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS. Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. editor / Maria M. Larrondo Petrie ; Jose Texier ; Rodolfo Andres Rivas Matta. Latin American and Caribbean Consortium of Engineering Institutions, 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology).

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abstract = "The development of traditional PID control systems requires mathematics to find the optimal tuning constants. In contrast, fuzzy controllers are simpler to use because their implementation is based on inference rules created by an expert. In this work, a PID fuzzy controller and an adaptive filter have been implemented in a children healthy treatment mobile robot prototype to control its position, evaluating different membership functions and the behavior of the adaptive filter against external disturbances. Simulink and Arduino have been used for this purpose by means of serial communication. The robot prototype has been designed using inventor, printed with 3D technology. The most efficient controller has been the PD controller, reaching a stability not achieved by the other controllers. The PD controller has been complemented with an adaptive RLS filter, which in turn was the one that obtained the minimum error compared to the LMS filter.",

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Salamea-Palacios, C, Zhindón, D & Cabrera, L 2023, Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS. in MM Larrondo Petrie, J Texier & RAR Matta (eds), Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology, vol. 2023-July, Latin American and Caribbean Consortium of Engineering Institutions, 21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023, Buenos Aires, Argentina, 19/07/23.

Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS. / Salamea-Palacios, Christian; Zhindón, Diego; Cabrera, Luciano.
Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. ed. / Maria M. Larrondo Petrie; Jose Texier; Rodolfo Andres Rivas Matta. Latin American and Caribbean Consortium of Engineering Institutions, 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology; Vol. 2023-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The development of traditional PID control systems requires mathematics to find the optimal tuning constants. In contrast, fuzzy controllers are simpler to use because their implementation is based on inference rules created by an expert. In this work, a PID fuzzy controller and an adaptive filter have been implemented in a children healthy treatment mobile robot prototype to control its position, evaluating different membership functions and the behavior of the adaptive filter against external disturbances. Simulink and Arduino have been used for this purpose by means of serial communication. The robot prototype has been designed using inventor, printed with 3D technology. The most efficient controller has been the PD controller, reaching a stability not achieved by the other controllers. The PD controller has been complemented with an adaptive RLS filter, which in turn was the one that obtained the minimum error compared to the LMS filter.

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Salamea-Palacios C, Zhindón D, Cabrera L. Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS. In Larrondo Petrie MM, Texier J, Matta RAR, editors, Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. Latin American and Caribbean Consortium of Engineering Institutions. 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology).

Control de posición de un robot móvil basado en control PID difuso y filtros adaptativos LMS y RLS

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