Optimizing PD-type fuzzy logic controller for position control of spherical robot
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 mechani...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IEEE
2020
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| Online Access: | http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf |
| _version_ | 1848788810319527936 |
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| author | Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah |
| author_facet | Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah |
| author_sort | Kamis, Nurul Nafisah |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T17:46:44Z |
| format | Proceeding Paper |
| id | iium-79654 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:46:44Z |
| publishDate | 2020 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-796542020-07-13T03:21:29Z http://irep.iium.edu.my/79654/ Optimizing PD-type fuzzy logic controller for position control of spherical robot Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah T Technology (General) 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. IEEE 2020-01-09 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf application/pdf en http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf Kamis, Nurul Nafisah and Embong, Abd Halim and Ahmad, Salmiah (2020) Optimizing PD-type fuzzy logic controller for position control of spherical robot. In: 7th International Conference on Mechatronics Engineering (ICOM) 2019, 30 - 31 Oct 2019, Putrajaya. https://ieeexplore.ieee.org/document/8952043 10.1109/ICOM47790.2019.8952043 |
| spellingShingle | T Technology (General) Kamis, Nurul Nafisah Embong, Abd Halim Ahmad, Salmiah Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title | Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title_full | Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title_fullStr | Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title_full_unstemmed | Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title_short | Optimizing PD-type fuzzy logic controller for position control of spherical robot |
| title_sort | optimizing pd-type fuzzy logic controller for position control of spherical robot |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/ http://irep.iium.edu.my/79654/1/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller.pdf http://irep.iium.edu.my/79654/2/79654%20Optimizing%20PD-type%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf |