Re-adhesion control with estimated adhesion force coefficient for wheeled robot using fuzzy logic

2005 ◽  
Author(s):  
Sun-Ku Kwon ◽  
Uk-Youl Huh ◽  
Hak-Il Kim ◽  
Jin-Hwan Kim
Keyword(s):  
Fuzzy Logic ◽  
Adhesion Force ◽  
Force Coefficient ◽  
Wheeled Robot ◽  
Adhesion Control

scholarly journals Implementasi Fuzzy Logic dalam Pembuatan Kontrol Navigasi Mobile Robot

2019 ◽  
Vol 16 (1) ◽  
pp. 9
Author(s):  
Dairoh Dairoh ◽  
Mohammad Khambali ◽  
Trima Mustofa
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Logic ◽  
Computer Games ◽  
Navigation System ◽  
Robot Control ◽  
Starting Position ◽  
Wheeled Robot ◽  
Data Points ◽  
Logic Rule ◽  
And Robotics

Artificial Intelligence is defined as intelligence exhibited by an artificial entity. Intelligence was created and put into a machine that can do the job as do humans. Some kinds of fields that use artificial intelligence include fuzzy logic, expert systems, computer games, neural networks and robotics. The purpose of research is Applying the theory of fuzzy logic in the manufacture of robot control and create teaching materials for the subjects of physics, especially on the concept of a microcontroller or other allied subjects of the research conducted. In this study apply fuzzy logic on the movement of wheeled robot control where in the controlling controlled via a smartphone which is then processed by a microcontroller Arduino that has grown the program by applying the method of fuzzy logic rule. Then by the microcontroller is used as a command to drive the DC motor as a navigation system that course in accordance with the rules created. Every step of the control system provides a signal in the form of a large steering angle (θ) which guides the robot to the target of a starting position. The results showed that the application of a system of fuzzy logic can be implemented in a navigation system for a robot control and the results of testing the robot's movement, then obtained some data points specified coordinates with the coordinates of the control robot acquired a 96% accuracy rate.

Comparison of the re-adhesion control strategies in high-speed train

2017 ◽  
Vol 232 (1) ◽  
pp. 92-105 ◽  
Author(s):  
Caglar Uyulan ◽  
Metin Gokasan ◽  
Seta Bogosyan
Keyword(s):  
Angular Velocity ◽  
Driving Force ◽  
High Speed ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Control Strategies ◽  
Slip Ratio ◽  
Nonlinear Properties ◽  
Robust Adaptive ◽  
Adhesion Control

Excessive driving force applied to the trains leads to an inadequate utilization of the adhesion phenomenon occurred at the wheel–rail contact, and an unnecessary power consumption, while inadequate driving force causes the train to run inefficiently. For this reason, the necessity of re-adhesion control in the safe and reliable operation, in the balance of energy consumption, is indisputable. A comparison of the two re-adhesion control strategies, one of which is robust adaptive and the other of which is the modified super-twisting sliding mode, has been presented in this article. These control algorithms developed suppress the wheel slip on time and maintain optimal traction performance after re-adhesion under the nonlinear properties of the traction system and the uncertainties of the adhesion level at the wheel–rail interface. Due to the complex nonlinear relationship between the adhesion force and the slip angular velocity, such a problem becomes a hard problem to overcome as long as the optimal slip ratio is not known. An optimal search strategy has also been developed to estimate and to track the desired slip angular velocity. By means of the proposed strategies, the traction motor control torque is automatically adjusted so as to ensure that the train operates away from the unstable slip zone but adjacent to the optimal adhesion region, and the desired traction capability is attainable once adhesion is regained. Mathematical analyzes are also provided to ensure the ultimate boundedness of the algorithms developed. The effectiveness of the proposed re-adhesion strategies is validated through the theoretical analysis and numerical simulations conducted in MATLAB and Simulink. As a result of consecutive simulations, modified super-twisting algorithm has shown better performance as compared to the robust adaptive one in tracking the optimal slip velocity as wheel–rail contact conditions switch suddenly.

scholarly journals On the Optimal Adhesion Control of a Vortex Climbing Robot

2021 ◽  
Vol 102 (3) ◽  
Author(s):  
Andreas Papadimitriou ◽  
George Andrikopoulos ◽  
George Nikolakopoulos
Keyword(s):  
Adhesion Force ◽  
Moving Average ◽  
External Input ◽  
Lookup Table ◽  
System Stability ◽  
State Transitions ◽  
Geometrical Properties ◽  
Ducted Fan ◽  
Time Optimal ◽  
Adhesion Control

AbstractThis article tackles the challenge of negative pressure adhesion control of a Vortex Robotic (VR) platform, which utilizes a modified Electric Ducted Fan (EDF)-based design for successfully adhering to surfaces of variable curvature. The resulting Vortex Actuation (VA) system is estimated through a switching Autoregressive-Moving-Average with eXternal input (ARMAX) identification, for accurately capturing the throttle to adhesion force relationship throughout its operating range. For safe attachment of the robot on a surface, the critical adhesion is modeled based on the geometrical properties of the robotic platform for providing the required reference forces. Within this work, an explicit controller via the use of a Constraint Finite Time Optimal Control (CFTOC) approach is designed in an offline manner, which results in a lookup table realization that ensures overall system stability in all state transitions. In an effort to further improve the tracking response for arbitrary setup orientations, the adhesion control scheme is extended through a switching EMPC framework. The resulting frameworks are tested through both dynamic simulation and experimental sequences involving: a) adhesion control on a rotating test curved surface and, b) adhesion and locomotion sequences on a water pipe.

Implementasi Kendali Keseimbangan Gerak Two Wheels Self Balancing Robot Menggunakan Fuzzy Logic

2021 ◽  
Vol 13 (2) ◽  
pp. 89-97
Author(s):  
Khoirudin Fathoni ◽  
Ababil Panji Pratama ◽  
Nur Azis Salim ◽  
Vera Noviana Sulistyawan
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Standing Position ◽  
Sensor Output ◽  
Membership Functions ◽  
Complementary Filter ◽  
Maximum Angle ◽  
Wheeled Robot ◽  
Balancing Robot ◽  
The Stability

Self balancing robot is a two-wheeled robot that only has two fulcrums so that this robot is an unbalanced system. Therefore, a control system that can maintain the stability of the robot is needed so that the robot can keep in standing position. This study aims to design a self-balancing robot and its control system which improves the robot's performance against the maximum angle of disturbance that can be overcome. The control system used is based on fuzzy logic with 9 membership functions and 81 rules. The control system is applied to the ESP-32 microcontroller with the MPU-6050 sensor as a feedback position of the robot and DC motor as an actuator. Complementary filters are added to the MPU-6050 sensor readings to reduce noise to obtain better robotic tilt angle readings. The improvement of this research compared to previous research based on fuzzy is the addition of the number of membership functions from 7 to 9 and the embedding of a complementary filter on the MPU-6050 sensor output reading. The result shows that the designed self balancing robot which has dimensions of 10cm x 18cm x 14.5cm can cope with the maximum disturbance angle up to 17.5⁰.

Adhesion Control of High Speed Train under Electric-Pneumatic Braking

2011 ◽  
Vol 199-200 ◽  
pp. 1074-1079
Author(s):  
Zhe Ming Chen ◽  
Ren Luo
Keyword(s):  
High Speed ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Recursive Least Squares ◽  
Vehicle Speed ◽  
High Speed Train ◽  
Wheel Slip ◽  
Braking Force ◽  
Brake Cylinder ◽  
Adhesion Control

As the result of wheel-rail surface conditions, external environment and vehicle speed change, the state of adhesion is changing. In order to ensure the validity and security of high speed train in braking, and obtain the maximum utilization of adhesion, control system must provide a stable and effective braking force. This paper presents a new pressure model of brake cylinder, and a 90 DOF vehicle dynamic model, uses Oldrich Polach’s model to calculate adhesion force, and adds a track irregularity on vehicle model. Switch signal controls brake cylinder. Direct torque strategy controls the induction motor, Recursive least squares determines the adhesion-slip state of wheels, Sliding mode control Strategy calculates the best braking force. The simulation results show the high brake performance of this wheel-slip prevention system, and the desired objective of control.

Modeling, simulation and re-adhesion control of an induction motor–based railway electric traction system

2017 ◽  
Vol 232 (1) ◽  
pp. 3-11 ◽  
Author(s):  
Çağlar Uyulan ◽  
Metin Gokasan
Keyword(s):  
Induction Motor ◽  
Control Method ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Control Strategies ◽  
Traction Force ◽  
Railway Vehicle ◽  
Slip Ratio ◽  
Traction System ◽  
Adhesion Control

Increasing the traction force is a complex problem in the design of railway vehicles; therefore, effective traction systems and algorithms have to be developed. During the traction process, the verification of traction algorithms and control strategies are based on simulations covering all locomotive dynamics. In this article, traction model of a railway vehicle and re-adhesion control method based on simulation approach are investigated to obtain more effective results. The longitudinal dynamic of a railway vehicle having traction system, which comprises two parallel motor groups, each of which has two field-oriented induction motor connected in series, is simulated to examine time-dependent changes in motor stator currents, traction torque, adhesion and resistance forces according to a given speed reference. The interaction between the adhesion force and the slip ratio is established according to the Burckhardt adhesion model, and a modified super-twisting sliding mode slip control is implemented in a computer simulation under various contact conditions so that simulation results approve the presented control method works under the maximum adhesion force. The comparison between the classical and modified version of the proposed control strategy was made to better evaluate the performance of the control system and to better optimize the traction system.

scholarly journals INFLUENCE OF MOBILE ROBOT CONTROL ALGORITHMS ON THE PROCESS OF AVOIDING OBSTACLES

2018 ◽  
Vol 8 (4) ◽  
pp. 60-63
Author(s):  
Piotr Wójcicki ◽  
Paweł Powroźnik ◽  
Kamil Żyła ◽  
Stanisław Grzegórski
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Fuzzy Logic ◽  
Mobile Robot ◽  
Robot Control ◽  
Control Algorithms ◽  
Wheeled Robot ◽  
Signal Processing Algorithms ◽  
Mobile Robot Control ◽  
Processing Algorithms

This article presents algorithms for controlling a mobile robot. An algorithms are based on artificial neural network and fuzzy logic. Distance was measured with the use of ultrasonic sensor. The equipment applied as well as signal processing algorithms were characterized. Tests were carried out on a mobile wheeled robot. The analysis of the influence of algorithm while avoiding obstacles was made.

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