Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
