Abstract
In this study, a novelty dual Takagi-Sugeno (TS) fuzzy control scheme (DTSFCS) is proposed for real world system control. We propose using a ball robot (BR) system control problem, where the BR has the ability to move omnidirectionally. The proposed control scheme combines two fuzzy control approaches for a BR. In this fuzzy control approach, the TS fuzzy model was adopted for the fuzzy modeling of the BR. The concept of parallel distributed compensation (PDC) was utilized to develop a fuzzy control scheme from the TS fuzzy models. The linear matrix inequalities (LMIs) can formulate sufficient conditions. Moreover, in this study, the motors of the BR were mounted on two orthogonal axes. Then, the dual TS fuzzy controller was designed to independently operate without coupling. Finally, the efficiency of the proposed control scheme is illustrated by the experimental and simulation results that are presented in this study.
Highlights
Intelligent control methodologies provide a structure for real world controllers design.In general, a fuzzy control scheme has been widely used for real-time adaptive system control.Fuzzy theory is often used to convert human experience to appropriate control strategies for systems.In the past decade, the Takagi-Sugeno (TS) control method has been employed in many applications, such as robotic manipulators [1], hovercrafts [2], helicopters [3], underactuated robots [4], and two-wheeled mobile robots [5].A fuzzy logic control scheme with a supervisory controller was proposed to control an omnidirectional moving mobile in [6]
Superior system performance is achieved by the TS fuzzy controller, as reflected by the above simulation results. These results indicate that the controller is useful for ball robot (BR) control
Conclusions the proposed TS fuzzy controller is useful for the real world control of the BR
Summary
Intelligent control methodologies provide a structure for real world controllers design. A fuzzy control scheme has been widely used for real-time adaptive system control. A fuzzy logic control scheme with a supervisory controller was proposed to control an omnidirectional moving mobile in [6]. In [7], an observer-based dynamic surface control to improve the system performance of mobile wheeled inverted pendulums was proposed. Minimizing the energy consumption of the control of mobile robots based on the optimal planning method was proposed in [8]. In [9], an intelligent adaptive controller was proposed to control a mobile inverted pendulum. The TS control scheme has already been applied to many real world control systems successfully. Sustainability 2019, 11, 3855; doi:10.3390/su11143855 www.mdpi.com/journal/sustainability directions To control such a system, a dual TS control scheme was investigated in this study. The advantage of the dual TS control scheme was confirmed by assessing the real-world implementation of 2019, BRs.11, 3855
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