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

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

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Intelligent Technologies
Subtítulo de la publicación alojada	Design and Applications for Society - Proceedings of CITIS 2022
Editores	Vladimir Robles-Bykbaev, Josefa Mula, Gilberto Reynoso-Meza
Editorial	Springer Science and Business Media Deutschland GmbH
Páginas	58-71
Número de páginas	14
ISBN (versión impresa)	9783031243264
DOI	https://doi.org/10.1007/978-3-031-24327-1_6
Estado	Publicada - 2023
Publicado de forma externa	Sí
Evento	8th International Conference on Science, Technology and Innovation for Society, CITIS 2022 - Guayaquil, Ecuador Duración: 22 jun. 2022 → 24 jun. 2022

Serie de la publicación

Nombre	Lecture Notes in Networks and Systems
Volumen	607 LNNS
ISSN (versión impresa)	2367-3370
ISSN (versión digital)	2367-3389

Conferencia

Conferencia	8th International Conference on Science, Technology and Innovation for Society, CITIS 2022
País/Territorio	Ecuador
Ciudad	Guayaquil
Período	22/06/22 → 24/06/22

Nota bibliográfica

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

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

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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. En 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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title = "Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor",

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. En 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).

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

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AU - Moreano, Gabriel

AU - Tafur Sotelo, Julio

AU - Pancha, Jhonny

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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. Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor. En Robles-Bykbaev V, Mula J, Reynoso-Meza G, editores, 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

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