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

Christian Salamea-Palacios, Diego Zhindón, Luciano Cabrera

Grupo de Investigación en Interacción, Robótica y Automática (GIIRA)

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

Resumen

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.

Título traducido de la contribución	Location control of a mobile robot based on fuzzy PID and adaptive filtering LMS and RLS
Idioma original	Español
Título de la publicación alojada	Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology
Subtítulo de la publicación alojada	Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023
Editores	Maria M. Larrondo Petrie, Jose Texier, Rodolfo Andres Rivas Matta
Editorial	Latin American and Caribbean Consortium of Engineering Institutions
ISBN (versión digital)	9786289520743
Estado	Publicada - 2023
Evento	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023 - Buenos Aires, Argentina Duración: 19 jul. 2023 → 21 jul. 2023

Serie de la publicación

Nombre	Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology
Volumen	2023-July
ISSN (versión digital)	2414-6390

Conferencia

Conferencia	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023
País/Territorio	Argentina
Ciudad	Buenos Aires
Período	19/07/23 → 21/07/23

Nota bibliográfica

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

Palabras clave

Adaptive Filtering
Fuzzy Logic
LSM
PID
RLS

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Enlace a la publicación en Scopus

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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. En 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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

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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. En Larrondo Petrie MM, Texier J, Matta RAR, editores, 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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

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Otros archivos y enlaces

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