Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization

Two-wheeled robot self-balancing has gained much interest of researchers due to its nonlinear dynamics. This project is aimed to design an Interval Type-2 Fuzzy Logic Controller to control a two-wheeled LEGO EV3 robot self-balancing to keep it in the upright position. In this project, two-wheeled...

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Main Authors:	W. S., Kin, Normaniha, Abd Ghani, Muhammad Firdaus, Masrom, Nur Fadzlina, Jamin, N. A., A. Razali
Format:	Conference or Workshop Item
Language:	English English
Published:	Universiti Malaysia Pahang 2019
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/27611/ http://umpir.ump.edu.my/id/eprint/27611/1/19.%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf http://umpir.ump.edu.my/id/eprint/27611/2/19.1%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf

id	ump-27611
recordtype	eprints
spelling	ump-276112020-01-31T09:00:18Z http://umpir.ump.edu.my/id/eprint/27611/ Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization W. S., Kin Normaniha, Abd Ghani Muhammad Firdaus, Masrom Nur Fadzlina, Jamin N. A., A. Razali TK Electrical engineering. Electronics Nuclear engineering Two-wheeled robot self-balancing has gained much interest of researchers due to its nonlinear dynamics. This project is aimed to design an Interval Type-2 Fuzzy Logic Controller to control a two-wheeled LEGO EV3 robot self-balancing to keep it in the upright position. In this project, two-wheeled LEGO EV3 robot is modelled using SimWise 4D software and integrated with Simulink. The robot stability performance and output response are observed at the same time when the Simulink is executed. System identification is used to get the mathematical model of the system in state space based on input and output from SimWise 4D motion to compare both results. The state space is used during optimization of IT2FLS using Particle Swarm Optimization (PSO). The performances of Interval Type 2 Fuzzy Logic Controller (IT2FLC) and optimized IT2FLS are compared. The robustness of IT2FLS is observed during disturbance rejection by injecting different direction of 0.8N and 1.0N torque to the robot in first 15 seconds. Universiti Malaysia Pahang 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/27611/1/19.%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf pdf en http://umpir.ump.edu.my/id/eprint/27611/2/19.1%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf W. S., Kin and Normaniha, Abd Ghani and Muhammad Firdaus, Masrom and Nur Fadzlina, Jamin and N. A., A. Razali (2019) Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization. In: The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2019), 26 - 28 Aug. 2019 , Shah Alam, Malaysia. pp. 1-8.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering W. S., Kin Normaniha, Abd Ghani Muhammad Firdaus, Masrom Nur Fadzlina, Jamin N. A., A. Razali Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
description	Two-wheeled robot self-balancing has gained much interest of researchers due to its nonlinear dynamics. This project is aimed to design an Interval Type-2 Fuzzy Logic Controller to control a two-wheeled LEGO EV3 robot self-balancing to keep it in the upright position. In this project, two-wheeled LEGO EV3 robot is modelled using SimWise 4D software and integrated with Simulink. The robot stability performance and output response are observed at the same time when the Simulink is executed. System identification is used to get the mathematical model of the system in state space based on input and output from SimWise 4D motion to compare both results. The state space is used during optimization of IT2FLS using Particle Swarm Optimization (PSO). The performances of Interval Type 2 Fuzzy Logic Controller (IT2FLC) and optimized IT2FLS are compared. The robustness of IT2FLS is observed during disturbance rejection by injecting different direction of 0.8N and 1.0N torque to the robot in first 15 seconds.
format	Conference or Workshop Item
author	W. S., Kin Normaniha, Abd Ghani Muhammad Firdaus, Masrom Nur Fadzlina, Jamin N. A., A. Razali
author_facet	W. S., Kin Normaniha, Abd Ghani Muhammad Firdaus, Masrom Nur Fadzlina, Jamin N. A., A. Razali
author_sort	W. S., Kin
title	Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
title_short	Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
title_full	Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
title_fullStr	Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
title_full_unstemmed	Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
title_sort	control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization
publisher	Universiti Malaysia Pahang
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/27611/ http://umpir.ump.edu.my/id/eprint/27611/1/19.%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf http://umpir.ump.edu.my/id/eprint/27611/2/19.1%20Control%20of%20a%20two-wheeled%20robot%20using%20interval.pdf
first_indexed	2023-09-18T22:43:23Z
last_indexed	2023-09-18T22:43:23Z
_version_	1777417063902478336

Control of a two-wheeled robot using interval type-2 fuzzy logic with particle swarm optimization

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