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...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Universiti Malaysia Pahang
2019
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| Online Access: | 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 |
| _version_ | 1825813200634904576 |
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| 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 |
| collection | UMP |
| 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. |
| first_indexed | 2024-03-06T12:40:29Z |
| format | Conference or Workshop Item |
| id | UMPir27611 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:40:29Z |
| publishDate | 2019 |
| publisher | Universiti Malaysia Pahang |
| record_format | dspace |
| spelling | UMPir276112020-01-31T09:00:18Z 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) (Unpublished) |
| 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 |
| title | 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_short | 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 |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | 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 |
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