Optimizing PD-type fuzzy logic controller for position control of spherical robot

Spherical robot has several advantages compared to another type of mobile robot that can be used in many applications. Controlling a rolling mechanism for this nonlinear system is highly challenging. This paper describes the optimization of the position control of spherical robot for rolling mechani...

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Main Authors:	Kamis, Nurul Nafisah, Embong, Abd Halim, Ahmad, Salmiah
Format:	Conference or Workshop Item
Language:	English English
Published:	IEEE 2020
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf

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recordtype	eprints
spelling	iium-796542020-03-19T07:48:08Z http://irep.iium.edu.my/79654/ Optimizing PD-type fuzzy logic controller for position control of spherical robot Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah T Technology (General) Spherical robot has several advantages compared to another type of mobile robot that can be used in many applications. Controlling a rolling mechanism for this nonlinear system is highly challenging. This paper describes the optimization of the position control of spherical robot for rolling mechanism. Proportional-Derivative type Fuzzy Logic Control (PD-type FLC) has been proposed in this paper to control the position of spherical robot while rolling. Five triangular membership function of error, change of error and output voltage is designed, producing 25 rule-base using Mamdani fuzzy inference system. Then, Particle Swarm Optimization (PSO) technique is used to optimize both input and output gain of PD-type FLC. The final analysis of the optimized PD-type FLC has shown that the rise time and settling time of the spherical robot to achieve its desired position is reduced by 78% which is 1.2 min and 2.1 min respectively with no overshoot. IEEE 2020-01-09 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf application/pdf en http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf Kamis, Nurul Nafisah and Embong, Abd Halim and Ahmad, Salmiah (2020) Optimizing PD-type fuzzy logic controller for position control of spherical robot. In: 7th International Conference on Mechatronics Engineering (ICOM) 2019, 30th–31st October 2019, Putrajaya. https://ieeexplore.ieee.org/document/8952043 10.1109/ICOM47790.2019.8952043
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General)
spellingShingle	T Technology (General) Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah Optimizing PD-type fuzzy logic controller for position control of spherical robot
description	Spherical robot has several advantages compared to another type of mobile robot that can be used in many applications. Controlling a rolling mechanism for this nonlinear system is highly challenging. This paper describes the optimization of the position control of spherical robot for rolling mechanism. Proportional-Derivative type Fuzzy Logic Control (PD-type FLC) has been proposed in this paper to control the position of spherical robot while rolling. Five triangular membership function of error, change of error and output voltage is designed, producing 25 rule-base using Mamdani fuzzy inference system. Then, Particle Swarm Optimization (PSO) technique is used to optimize both input and output gain of PD-type FLC. The final analysis of the optimized PD-type FLC has shown that the rise time and settling time of the spherical robot to achieve its desired position is reduced by 78% which is 1.2 min and 2.1 min respectively with no overshoot.
format	Conference or Workshop Item
author	Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah
author_facet	Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah
author_sort	Kamis, Nurul Nafisah
title	Optimizing PD-type fuzzy logic controller for position control of spherical robot
title_short	Optimizing PD-type fuzzy logic controller for position control of spherical robot
title_full	Optimizing PD-type fuzzy logic controller for position control of spherical robot
title_fullStr	Optimizing PD-type fuzzy logic controller for position control of spherical robot
title_full_unstemmed	Optimizing PD-type fuzzy logic controller for position control of spherical robot
title_sort	optimizing pd-type fuzzy logic controller for position control of spherical robot
publisher	IEEE
publishDate	2020
url	http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf
first_indexed	2023-09-18T21:51:39Z
last_indexed	2023-09-18T21:51:39Z
_version_	1777413809156128768

Optimizing PD-type fuzzy logic controller for position control of spherical robot

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