Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor

Gabriel Moreano; Julio Tafur Sotelo; Jhonny Pancha

doi:10.1007/978-3-031-24327-1_6

Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor

Gabriel Moreano, Julio Tafur Sotelo, Jhonny Pancha

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

Abstract

A line follower robot is a classic prototype in automatic control learning and quite applicable in the industry for example in cargo transport, the common control strategy in this type of device is a PD linear controller since it produces a fairly stable response and also for its ease of tuning. The current work presents the design, analysis and implementation of a nonlinear fuzzy control strategy, which generates several operational benefits compared to PD control. For the analysis, the responses of the two types of controllers are compared through simulation algorithms and experimental tests, where parameters such as the response time or the effort in the system actuators are evaluated. In general, the fuzzy controller non-linearity generates some confidence when choosing a control tool for this type of device. Finally, a speed control strategy easily adaptable to the fuzzy position controller is presented in such a way that the travel time is further optimized.

Original language	English
Title of host publication	Intelligent Technologies
Subtitle of host publication	Design and Applications for Society - Proceedings of CITIS 2022
Editors	Vladimir Robles-Bykbaev, Josefa Mula, Gilberto Reynoso-Meza
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	58-71
Number of pages	14
ISBN (Print)	9783031243264
DOIs	https://doi.org/10.1007/978-3-031-24327-1_6
State	Published - 2023
Externally published	Yes
Event	8th International Conference on Science, Technology and Innovation for Society, CITIS 2022 - Guayaquil, Ecuador Duration: 22 Jun 2022 → 24 Jun 2022

Publication series

Name	Lecture Notes in Networks and Systems
Volume	607 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	8th International Conference on Science, Technology and Innovation for Society, CITIS 2022
Country/Territory	Ecuador
City	Guayaquil
Period	22/06/22 → 24/06/22

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Keywords

Fuzzy
Line follower
Mamdani
Nonlinear control
Singleton

Access to Document

10.1007/978-3-031-24327-1_6

Cite this

Moreano, G., Tafur Sotelo, J., & Pancha, J. (2023). Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. In V. Robles-Bykbaev, J. Mula, & G. Reynoso-Meza (Eds.), Intelligent Technologies: Design and Applications for Society - Proceedings of CITIS 2022 (pp. 58-71). (Lecture Notes in Networks and Systems; Vol. 607 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-24327-1_6

Moreano, Gabriel ; Tafur Sotelo, Julio ; Pancha, Jhonny. / Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. Intelligent Technologies: Design and Applications for Society - Proceedings of CITIS 2022. editor / Vladimir Robles-Bykbaev ; Josefa Mula ; Gilberto Reynoso-Meza. Springer Science and Business Media Deutschland GmbH, 2023. pp. 58-71 (Lecture Notes in Networks and Systems).

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abstract = "A line follower robot is a classic prototype in automatic control learning and quite applicable in the industry for example in cargo transport, the common control strategy in this type of device is a PD linear controller since it produces a fairly stable response and also for its ease of tuning. The current work presents the design, analysis and implementation of a nonlinear fuzzy control strategy, which generates several operational benefits compared to PD control. For the analysis, the responses of the two types of controllers are compared through simulation algorithms and experimental tests, where parameters such as the response time or the effort in the system actuators are evaluated. In general, the fuzzy controller non-linearity generates some confidence when choosing a control tool for this type of device. Finally, a speed control strategy easily adaptable to the fuzzy position controller is presented in such a way that the travel time is further optimized.",

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Moreano, G, Tafur Sotelo, J & Pancha, J 2023, Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. in V Robles-Bykbaev, J Mula & G Reynoso-Meza (eds), Intelligent Technologies: Design and Applications for Society - Proceedings of CITIS 2022. Lecture Notes in Networks and Systems, vol. 607 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 58-71, 8th International Conference on Science, Technology and Innovation for Society, CITIS 2022, Guayaquil, Ecuador, 22/06/22. https://doi.org/10.1007/978-3-031-24327-1_6

Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. / Moreano, Gabriel; Tafur Sotelo, Julio; Pancha, Jhonny.
Intelligent Technologies: Design and Applications for Society - Proceedings of CITIS 2022. ed. / Vladimir Robles-Bykbaev; Josefa Mula; Gilberto Reynoso-Meza. Springer Science and Business Media Deutschland GmbH, 2023. p. 58-71 (Lecture Notes in Networks and Systems; Vol. 607 LNNS).

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

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PY - 2023

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Moreano G, Tafur Sotelo J, Pancha J. Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. In Robles-Bykbaev V, Mula J, Reynoso-Meza G, editors, Intelligent Technologies: Design and Applications for Society - Proceedings of CITIS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 58-71. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-24327-1_6

Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor

Abstract

Publication series

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Bibliographical note

Keywords

Access to Document

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