Comparative study of conventional and interval type-2 fuzzy logic controllers for velocity regulation in Lego Mindstorms ev3 humanoids. (English) Zbl 1471.93197
Kahraman, Cengiz (ed.) et al., Toward humanoid robots: the role of fuzzy sets. A handbook on theory and applications. Cham: Springer. Stud. Syst. Decis. Control 344, 201-219 (2021).
Summary: Recently, fuzzy logic has allowed complex systems to be designed and controlled more effectively than traditional approaches, since it provides a simple way to handle noisy or imprecise information. Nowadays, one of the great problems in the speed control cases is to make the decision to use a fuzzy logic control (FLC) system instead of a conventional controller system as a proportional integral (PI) and integral-derivative (PID). This chapter presents a comparative study using three types of controllers, FLC, PI and PID, applied to the speed control of a robot built using the ev3 Lego Mindstorms ev3 humanoids kit. Matlab and Simulink were used to validate the performance of the speed control obtained with the controller proposed in this paper. This particular type of robot has some similarities to Humanoid robots as it needs to move autonomously avoiding obstacles, so we plan to later implement the fuzzy controllers on larger and more complex Humanoid robots.
For the entire collection see [Zbl 1467.93001].
For the entire collection see [Zbl 1467.93001].
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93C42 | Fuzzy control/observation systems |
| 93B52 | Feedback control |
Keywords:
fuzzy logic control; proportional integral; proportional integral derivative; ev3 Lego Mindstorms; closed loop controlReferences:
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