PSO Tuning for Fuzzy PD plus I Controller applied to a Mobile Robot Trajectory Control

被引：5
|
作者：
Campos, J. [1 ]
Jaramillo, S. [1 ]
Morales, L. [1 ]
Camacho, O. [1 ]
Chavez, D. [1 ]
Pozo, D. [2 ]
机构：
[1] Escuela Politec Nacl, Dept Automatizac & Control Ind, Quito, Ecuador
[2] Univ Las Amer, Fac Ingn & Ciencias Aplicadas, Quito, Ecuador
来源：
PROCEEDINGS 3RD INTERNATIONAL CONFERENCE ON INFORMATION SYSTEMS AND COMPUTER SCIENCE (INCISCOS 2018) | 2018年
关键词：
Fuzzy Controller; PSO; Mobile Robot; Optimization;
D O I：
10.1109/INCISCOS.2018.00017
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an optimal fuzzy PD + I controller designed to control the trajectory of a mobile robot. To tune and obtain the best parameters of the controller, the PSO (Particle Swarm Optimization) algorithm is used. This algorithm minimizes an objective function, in this case, the Integral Square Error (ISE) index of the system, parameter that depends on the linear and angular velocity errors for the optimization process. With this algorithm, the parameters to be optimized are the gains and the membership functions of the fuzzy controller in order to obtain an optimal controller and improve its performance. Finally, in order to validate the proposal, a comparative analysis among the results of a classic PID controller, a conventional Fuzzy PD + I controller and the proposed optimal Fuzzy PD + I controller is performed, evaluating trajectories followed by the robot, the position errors and the control actions of each case.
引用
收藏
页码：62 / 68
页数：7
相关论文
共 50 条
  • [1] A Fuzzy Logic Controller Tuned with PSO for Delta Robot Trajectory Control
    Lu, Xingguo
    Liu, Ming
    [J]. IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2015, : 4345 - 4351
  • [2] A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control
    Bingul, Zafer
    Karahan, Oguzhan
    [J]. EXPERT SYSTEMS WITH APPLICATIONS, 2011, 38 (01) : 1017 - 1031
  • [3] Sectorial Fuzzy Controller Plus Feedforward applied to the Trajectory Tracking of Robot Manipulators
    Pizarro-Lerma, Andres O.
    Santibanez, Victor
    Garcia-Hernandez, Ramon
    Villalobos Chin, Jorge
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 9918 - 9923
  • [4] Fuzzy logic based tuning of sliding mode controller for robot trajectory control
    Ryu, SH
    Park, JH
    [J]. 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 2974 - 2979
  • [5] Design of fuzzy PD plus I controller for tracking control
    Kim, BJ
    Chung, CC
    [J]. PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 2124 - 2129
  • [6] Gain Tuning of Lyapunov Function Based Controller Using PSO for Mobile Robot Control
    Goswami, Niraj Kumar
    Padhy, Prabin Kumar
    [J]. 2016 11TH INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS (ICIIS), 2016, : 295 - 299
  • [7] Fuzzy PD plus I control of a six DOF robot manipulator
    Alavandar, Srinivasan
    Nigam, M. J.
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2008, 35 (02): : 125 - 132
  • [8] Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters
    Tolossa, Tesfaye Deme
    Gunasekaran, Manavaalan
    Halder, Kaushik
    Verma, Hitendra Kumar
    Parswal, Shyam Sundar
    Jorwal, Nishant
    Joseph, Felix Orlando Maria
    Hote, Yogesh Vijay
    [J]. ROBOTICA, 2024,
  • [9] Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot)
    Alouache, Ali
    Wu, Qinghe
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2018, 45 (01): : 23 - 33
  • [10] Predictive fuzzy logic controller for trajectory tracking of a mobile robot
    Jiang, XH
    Motai, Y
    Zhu, XQ
    [J]. SMCIA/05: PROCEEDINGS OF THE 2005 IEEE MID-SUMMER WORKSHOP ON SOFT COMPUTING IN INDUSTRIAL APPLICATIONS, 2005, : 29 - 32
12345