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
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