Interval Type-2 Fuzzy Logic PID Controller Based on Differential Evolution with Better and Nearest Option for Hydraulic Serial Elastic Actuator

2020 ◽  
Author(s):  
Haozhen Dong ◽  
Xinyu Li ◽  
Pi Shen ◽  
Liang Gao ◽  
Haorang Zhong
Keyword(s):  
Fuzzy Logic ◽  
Differential Evolution ◽  
Pid Controller ◽  
Interval Type

scholarly journals Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

2019 ◽  
pp. 1-15
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Pid Controller ◽  
Kinematic Model ◽  
Superior Performance ◽  
Fuzzy Like ◽  
Interval Type

One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties. Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance. This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller’s parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error. The Matlab simulation results demonstrate the good performance and robustness of this controller. These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot. Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.

scholarly journals Enhancement of Non-Holonomic Leader-Follower Formation Using Interval Type-2 Fuzzy Logic Controller

2018 ◽  
Vol 14 (09) ◽  
pp. 124 ◽  
Author(s):  
Bambang Tutuko ◽  
Siti Nurmaini ◽  
Saparudin Saparudin ◽  
Gita Fadila Fitriana
Keyword(s):  
Fuzzy Logic ◽  
Pid Controller ◽  
Formation Control ◽  
Fuzzy Logic Controller ◽  
Small Data ◽  
Hardware Failure ◽  
Fuzzy Process ◽  
Interval Type

Robotics control system with leader-follower approach has a weakness in the case of formation failure if the leader robot fails. To overcome such problem, this paper proposes the formation control using Interval Type-2-Fuzzy Logic controller (IT2FLC). To validate the performance of the controller, simulations were performed with various environmental systems such as open spaces, complexes, circles and ovals with several parameters. The performance of IT2FLC will be compared with Type-1 Fuzzy Logic (T1FL) and Proportional Integral and Derivative (PID) controller. As the results found using IT2FLC has advantages in environmental uncertainty, sensor imprecision and inaccurate actuator. Moreover, IT2FLC produce good performance compared to T1FLC and PID controller in the above environments, in terms of small data generated in the fuzzy process, the rapid response of the leader robot to avoid collisions and stable movements of the follower robot to follow the leader's posture to reach the target without a crash. Especially in some situations when a leader robot crashes or stops due to hardware failure, the follower robot still continue move to the target without a collision.

Interval Type-2 Fuzzy Logic Control of Maglev Test Stand

2015 ◽  
Vol 759 ◽  
pp. 71-76
Author(s):  
Ireneusz Dominik
Keyword(s):  
Magnetic Field ◽  
Fuzzy Logic ◽  
Computational Complexity ◽  
Fuzzy Logic Control ◽  
Pid Controller ◽  
Fuzzy Logic Controller ◽  
Test Stand ◽  
Logic Control ◽  
Interval Type

The paper contains a description of a research into applying classic algorithm of PID controller as well as advanced Type-2 Fuzzy logic controller to ensure stability of the levitating object in magnetic field. The implemented algorithm can handle uncertainties without increasing drastically the computational complexity, which is crucial in case of PLCs. The issues concerning the construction of the unit, where the experiments were carried out, are presented, as well as the characteristics of the object for different controllers.

Interval Type 2 Fuzzy Logic Based Multifocus Image Fusion

2018 ◽  
Vol 6 (1) ◽  
pp. 220-227
Author(s):  
A.N. Myna ◽  
◽  
J. Prakash ◽  
Keyword(s):  
Fuzzy Logic ◽  
Image Fusion ◽  
Interval Type

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

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