Fuzzy Controlled Robot Design and its application in Underactuated Sysytems

8/12/2019 Fuzzy Controlled Robot Design and its application in Underactuated Sysytems

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FUZZY LOGIC CONTROLLER ONTWO WHEELED MOBILE ROBOT

DHANISH VIJAYAN

Roll No. 6

M1 AEI

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Guided by:

VINOD B.R

Asst. Prof.

Dept. of ECE


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OVERVIEW

What is Fuzzy Logic?

Fuzzy logic Representation

Fuzzy Logic in Control Systems

Experimental Setup

Applications

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WHAT IS FUZZY LOGIC?

Definition of fuzzy

Fuzzynot clear, distinct, or precise; blurred

Definition of fuzzy logic A form of knowledge representation suitable for notions

that cannot be defined precisely, but which depend upon

their contexts.

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TRADITIONAL REPRESENTATION OF

LOGIC

Slow Fast

Speed = 0 Speed = 1

bool speed;get the speedif ( speed == 0) {// speed is slow

}else {// speed is fast}

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FUZZY LOGIC REPRESENTATION

What are fuzzy sets?

For every problem, it

must be representedin terms of fuzzy sets.

Slowest

Fastest

Slow

Fast

[ 0.00.25 ]

[ 0.250.50 ]

[ 0.500.75 ]

[ 0.751.00 ]5


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FUZZY LOGIC REPRESENTATION

CONT.

Slowest Fastest

float speed;get the speedif ((speed >= 0.0)&&(speed < 0.25)) {// speed is slowest}else if ((speed >= 0.25)&&(speed < 0.5)){

// speed is slow}else if ((speed >= 0.5)&&(speed < 0.75)){// speed is fast}else // speed >= 0.75 && speed < 1.0{

// speed is fastest}

Slow Fast

fuzzy: process(speed)beginif (speed >= "00000000" and speed


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FUZZY LOGIC IMPLEMENTATION

Acceleration

Slow Fast FastestSlowest

MEMBERSHIP

VALUE

ACCELEROMETER READING

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FUZZY LOGIC IN CONTROL SYSTEMS

Fuzzy Logic provides a more efficient and

resourceful way to solve Control Systems.

Some Examples Temperature Controller

AntiLock Brake System ( ABS )

Waterlevel controller

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EXPERIMENTAL SETUP FOR TWO-

WHEELED MOBILE ROBOT

ACCELEROMETERLSM303

GYROMETERL3GD20

MCUATMEGA16A

MOTOR DRIVERL293D

ROTARY ENCODER12 BIT PER ROTATION

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BLOCK DIAGRAM

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State variables

1. Position

2. Velocity

3. Tilting angle

4. Angular velocity

Membership values are modeled using Takagi-Sugeno Type which

is indicated in the below form

FUZZY LOGIC CONTROLLER -

EXPLANATION


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Membership function

used for FLC

Two Fuzzy values are used to indicate the

state variable changes namely

Positive

Negative

FUZZY LOGIC CONTROLLER

EXPLANATION(cont...)


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ACCELEROMETER INTERFACED WITH

MICROCONTROLLER

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Disturbance

(mg/bit)

ACCELEROMETER PLOT

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BENEFITS OF USING FUZZY LOGIC

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ADVANTAGES OF FUZZY LOGIC

Code portability and multiplatform support

No need of special library or toolbox

No overshoots or transients present in the system

response

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SOMEFUZZYLOGICAPPLICATIONS

MASSIVE (short for Multiple Agent Simulation

System in Virtual Environment)

Used to create the large-scale battle scenes in the

Lord of the Rings films, MASSIVE is program for

generating crowd-related visual effects


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APPLICATIONSOFFUZZYLOGIC

Vehicle Control

A number of subway systems, particularly in

Japan and Europe, are using fuzzy systems to

control braking and speed. One example is the

Tokyo Monorail


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APPLICATIONSOFFUZZYLOGIC

Application Control Systems

Fuzzy logic is starting to be used to help control

appliances ranging from rice cookers to small-

scale microchips.


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REFERENCES

1 Chia-Hung Hsu and Chai-Feng Juang, Evolutionary Robot Wall-

Following Control Using Type-2 Fuzzy Controller With Species-DE-Activated,IEEE Trans. Fuzzy Sys., vol. 21, no.1, Feb.2013

2 Santiago Sanchez-Solano, Maria Brox, Ernesto del Toro, Piedad Brox,and Illuminada Baturone, Model-Based Design Methodology forRapid Development of Fuzzy Controllers on FPGAs,IEEE Trans. Ind.Infor. ,vol. 9, no.3, Aug.2013

3 Jaeoh Lee, Seongik Han, and Jangmyung Lee, DecoupledDynamicControl for Pitch and Roll Axes of the Unicycle Robot, IEEE Trans.Ind. Electron., vol. 60,no. 9, Sep. 2013

4 C.-H. Huang, W.-J. Wang, and C.-H. Chiu, Design andimplementation of fuzzy control on a two-wheeled inverted pendulum,IEEE Trans. Ind. Electron., vol. 58, no. 7, pp. 29883001, Jul. 2011

5 Salmiah Ahmad, N. H. Siddique and M. O. Tokhi, Modular FuzzyLogic Controller for Motion Control of Two-Wheeled Wheelchair, inProf. Elmer Dadios (Ed.), ISBN: 978-953-51-0396-7, InTech Journal2013


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THANK YOU


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Fuzzy Controlled Robot Design and its application in Underactuated Sysytems

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