Design of Autonomous Robot Soccer System Based on Sugeno Fuzzy

2012 ◽  
Vol 195-196 ◽  
pp. 1017-1022
Author(s):  
Lei Shi ◽  
Qiang Wang ◽  
Zhi Jun Sun ◽  
Ru Long Xu ◽  
Lei Chen
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Robot Control ◽  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Path Following ◽  
Good Control ◽  
Control Performance ◽  
Robot Soccer

This paper presents the use of a fuzzy logic controller combined with Machine Vision to improve the accuracy to identify ball and speed to approaching ball in Robot Soccer. The conventional robot control consists of methods for path generation and path following. When a robot moves away the desired track, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. To achieve good control performance and requirements for timeliness, accuracy to identify and approach the ball, the paper designs a sugeno fuzzy control system, which could make robot complete the whole football performance, including finding, approaching and shooting ball. At the end of the paper, to validate the proposed fuzzy algorithm, the experiment on METALFIGHTER-2 humanoid robot has been run, which showed that the fuzzy controller is effectiveness and robustness.

Implementation of Wheelchair Motion Control Based on Electrooculography Using Simulation and Experimental Performance Testing

2014 ◽  
Vol 554 ◽  
pp. 551-555
Author(s):  
Nurul Muthmainnah Mohd Noor ◽  
Salmiah Ahmad ◽  
Sharul Naim Sidek
Keyword(s):  
Fuzzy Logic ◽  
Eye Movement ◽  
Motion Control ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Performance Testing ◽  
Linear Motion ◽  
Communication Tool ◽  
Experimental Performance ◽  
Movement Data

The aim of this study is to perform the experimental verification on the fuzzy-based control designed for wheelchair motion. This motion control based on the eye movement signals using electrooculograhphy (EOG) technique. The EOG is a technique to acquire the eye movement data from a person, i.e tetraplegia, which the data obtained, can be used as a main communication tool. This study is about the implementation of the designed controller using PD-type fuzzy controller and tested on the hardware of the wheelchair system using the eye movement signal obtained through EOG technique as the motion input references. The results obtained show that the PD-type fuzzy logic controller designed has successfully managed to track the input reference for linear motion set (forward and backward direction) by the EOG signal.

scholarly journals Online Position Control Performance Improving Applying Incremental Fuzzy Logic Controller

2018 ◽  
Vol 248 ◽  
pp. 02005
Author(s):  
Dirman Hanafi ◽  
Mohamed Najib Ribuan ◽  
Wan HamidahWan Abas ◽  
Hidayat ◽  
Elmy Johana ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Motor Performance ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fuzzy Controller ◽  
Dc Motor ◽  
Peak Time ◽  
Control Performance ◽  
Position Control System

This paper presents the online control system application for improving the DC motor performance. DC motor widely used in industries and many appliances. For this aim fuzzy logic controller is applied. The type of fuzzy controller use is an incremental fuzzy logic controller (IFLC). The IFLC is developed by using MATLAB Simulink Software and implemented in online position control system applying RAPCON board as a platform. The experimental results produced the best gains of the IFLC are 1.785, 0.0056955 and 0.01 for error gain (GE), gain of change error (GCE) and gain of output (GCU) respectively. Its produce smaller rise time, peak time, 0% overshoot and smaller settling time. Beside that the IFLC response also able to follow the set point. The controller response parameters values are also acceptable. It means that the IFLC suitable to be use for improving the position control system performance.

Improvement of Control Performance for Low-Dimensional Number of Fuzzy Labeling Using Simplified Inference

1999 ◽  
Vol 3 (5) ◽  
pp. 431-438 ◽  
Author(s):  
Kenichiro Hayashi ◽  
◽  
Akifumi Otsubo ◽  
Kazuhiko Shiranita
Keyword(s):  
High Speed ◽  
Fuzzy Inference ◽  
Fuzzy Controller ◽  
Control Performance ◽  
Controlled System ◽  
First Order ◽  
Improvement Method ◽  
Representative Model ◽  
Plant Characteristics ◽  
Low Dimensional

One of the important concepts in fuzzy control is fuzzy inference, and simplified inference, which increases the speed of the fuzzy inference, has been used to realize a high-speed fuzzy controller. In designing a fuzzy controller, a high dimension, such as 7 x 7 or 5 x 5 partitions, is frequently used for the number of fuzzy labeling. However, as the number of fuzzy labeling increases, the number of control parameters increases rapidly and tuning of the fuzzy controller becomes difficult. Therefore, a fuzzy controller is required to be partitioned into a low number of fuzzy labeling, such as 3 x 3 partitions. With this in mind, first, a method of improving control performance for a low number of fuzzy labeling using simplified inference which enables high-speed inference, is proposed in this paper. Next, the effectiveness of this improvement method is studied based on the results of several simulations where a first-order lag system with dead time, a representative model for plant characteristics, is used as the controlled system.

CMOS CIRCUIT DESIGN OF A TAKAGI-SUGENO FUZZY LOGIC CONTROLLER

2009 ◽  
Vol 18 (04) ◽  
pp. 841-856
Author(s):  
WEIWEI SHAN ◽  
YAN LIANG ◽  
DONGMING JIN
Keyword(s):  
Fuzzy Logic ◽  
Low Power ◽  
Integrated Circuit ◽  
High Speed ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
High Accuracy ◽  
Real Time Control ◽  
Chip Area ◽  
Takagi Sugeno

This paper presents a low power CMOS analog integrated circuit of a Takagi–Sugeno fuzzy logic controller with voltage/voltage interface, small chip area, relatively high accuracy and medium speed, which is composed of several improved functional blocks. Z-shaped, Gaussian and S-shaped membership function circuits with compact structures are designed, performing well with low power, high speed and small areas. A current minimization circuit is provided with high accuracy and high speed. A follower-aggregation defuzzification block composed of several multipliers for center of gravity (COG) defuzzification is presented without using a division circuit. Based on these blocks, a two-input one-output singleton fuzzy controller with nine rules is designed under a CMOS 0.6 μm standard technology provided by CSMC. HSPICE simulation results show that this controller reaches an accuracy of ±3% with power consumption of only 3.5 mW (at ±2.5 V). The speed of this controller goes up to 0.625M Fuzzy Logic Inference per Second (FLIPS), which is fast enough for real-time control.

scholarly journals The Design of Control System for Multi Joint Robot based on PC+DSP

2018 ◽  
Vol 2 (1) ◽  
pp. 1
Author(s):  
Yingxiao Xie ◽  
Yuliang Liu ◽  
Jianhua Liu ◽  
Kunlin Liu ◽  
Chaohai Wang
Keyword(s):  
Control System ◽  
Motion Control ◽  
Circuit Design ◽  
Robot Control ◽  
Control Performance ◽  
Cost Performance ◽  
Motion Control Card ◽  
Hardware Circuit ◽  
Robot Platform ◽  
Robot Control System

A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the shortcomings of the control system in terms of flexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance, The results show that the designed control system has the advantages of flexible function, easy expansion and easy porting of software.

scholarly journals Intelligent Traffic Management Service Using Fuzzy Logic Controller in High Speed Networks

2019 ◽  
pp. 95-98
Author(s):  
Muppineni Sravanthi
Keyword(s):  
Fuzzy Logic ◽  
Traffic Management ◽  
High Speed ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
System Simulation ◽  
Core Area ◽  
Management Service ◽  
High Speed Networks ◽  
Simulation Results

Network traffic management is a core area of research that is of great importance in the field of communication. This paper proposes a new scheme for controlling router side traffic in networks by updating source sending rate according to its IQ size. A new fuzzy controller is to be modelled to implement the proposed system. Simulation results and comparisons has verified the effectiveness and showed that our proposed scheme can achieve better performances than the existing protocols.

Passivity-Based Versus Disturbance Observer Based Robot Control: Equivalence and Stability

1999 ◽  
Vol 121 (1) ◽  
pp. 41-47 ◽  
Author(s):  
Robert Bickel ◽  
Masayoshi Tomizuka
Keyword(s):  
Disturbance Observer ◽  
Robot Control ◽  
Good Control ◽  
Adaptive Controller ◽  
Additional Benefit ◽  
Control Algorithms ◽  
Control Performance ◽  
Specific Design ◽  
Straightforward Method ◽  
The Stability

Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of Sadegh and Horowitz, and Slotine and Li. This is accomplished by choosing a specific design of the Q(s) filter (described in the paper) of the disturbance observer. By doing so, the stability of the disturbance observer based approach can be proven rigorously. An additional benefit of the equivalence of the two approaches is the ability to combine an adaptive controller to the disturbance observer based approach.

Optimal Design of T-S Fuzzy Controller Based on Improved Genetic Algorithm

2011 ◽  
Vol 268-270 ◽  
pp. 924-929
Author(s):  
Ling Jiao Dong ◽  
Shao Xing Su
Keyword(s):  
Genetic Algorithm ◽  
High Speed ◽  
Fuzzy Controller ◽  
Fuzzy Reasoning ◽  
Control Performance ◽  
Optimal Parameters ◽  
Improved Genetic Algorithm ◽  
Control Rules ◽  
Excellent Control ◽  
Global Optimal

To solving the problem that there had been too many undetermined parameters in the fuzzy control rules, it presented a simplified Takagi-Sugno, namely T-S, fuzzy reasoning method. It reduced the parameters of the IF-THEN rules greatly. In addition this paper also improved the genetic algorithm on the analysis of the prior genetic algorithm, by which the global optimal parameters of the controller can be found easily and quickly thus the control rules can be amended and perfected. The simulation results show that the improved genetic algorithm can find the optimal parameters at a high speed and the optimized T-S fuzzy controller can obtain an excellent control performance.

scholarly journals Performance Analysis on Depth and Straight Motion Control based on Control Surface Combinations for Supercavitating Underwater Vehicle

2021 ◽  
Vol 24 (4) ◽  
pp. 435-448
Author(s):  
Beomyeol Yu ◽  
Hyemin Mo ◽  
Seungkeun Kim ◽  
Jong-Hyon Hwang ◽  
Jeong-Hoon Park ◽  
...  
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Control Surface ◽  
Control Performance ◽  
Friction Resistance ◽  
Control Loops ◽  
The Stability ◽  
And Control

This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a differential elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.

scholarly journals A multi-threaded communication architecture for networked control systems

2019 ◽  
Vol 12 (1) ◽  
pp. 15-23
Author(s):  
Raazi Muhammad Khaliq-ur-Rahman. Muhammad B. Kadri Syed
Keyword(s):  
Fuzzy Controller ◽  
Networked Control Systems ◽  
Good Control ◽  
Network Control ◽  
Control Performance ◽  
Communication Architecture ◽  
Control Schemes ◽  
Tank System ◽  
Integral Controller ◽  
Proportional Integral Controller

Advancement in communication technology has paved the way for geographically dislocating controllers from the plants they are controlling. Establishing a secure and reliable communication is an essential component to achieve robust control performance. Myriad network control schemes have been proposed but they are incapacitated due to a lack of reliable software paradigm. This highlights the need of a distributed system, which provides platform for smooth communication between a plant and its controller. In this work, we propose CASAPAC, which is a multi-threaded communication architecture designed to ensure reliable and in-order delivery of information between different modules of a network control system. Any control algorithm can be tested and employed over any network using CASAPAC. An adaptive fuzzy controller and a network based gain scheduled PI (Proportional Integral) controller have been tested on different networks using CASAPAC. In both cases, tests were carried out on a real plant of a coupled tank system. CASAPAC was able to handle all the communication efficiently in different scenarios and good control performance was achieved in both cases.

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