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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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