Design and Optimization of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot Trajectory Control

Lu, Xingguo; Liu, Ming; Liu, Jianxing

doi:10.1007/s40815-015-0131-3

Cited by 34 publications

(16 citation statements)

References 33 publications

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“…Parameter ranges and system uncertainties in the position control environments are required to deal with the controller [40]. Soft computing methods like fuzzy logic [41][42][43][44][45][46] are one of these controllers. These controllers have powerful advantages such as being low cost, being easy to control and being designable without knowing the exact mathematical model of the process.…”

Section: Literature Reviewmentioning

confidence: 99%

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Dirik

Castillo

Kocamaz

2019

Axioms

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Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.

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Section: Literature Reviewmentioning

confidence: 99%

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Dirik

Castillo

Kocamaz

2019

Axioms

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“…By changing the value of α we can get a group of IT2 FLCs with different antecedent membership functions. When the membership functions are blurred, the controller could not provide enough output control signal when adopting the same inputs [40]. So the value Ku is also tuned in this step to overcome this issue.…”

Section: Pid-type It2 Fuzzy Logic Controller Structure Design For mentioning

confidence: 99%

“…So the value Ku is also tuned in this step to overcome this issue. The value of Ku is obtained by the method proposed by Lu et al [40], for each α there is a Ku corresponding to it. For each pair of α and Ku, a IT2 FLC with different structure can be formed.…”

Section: Pid-type It2 Fuzzy Logic Controller Structure Design For mentioning

confidence: 99%

Optimal Design and Tuning of PID-Type Interval Type-2 Fuzzy Logic Controllers for Delta Parallel Robots

Liu

2016

International Journal of Advanced Robotic Systems

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In this work, we propose a new method for the optimal design and tuning of a Proportional-Integral-Derivative type (PID-type) interval type-2 fuzzy logic controller (IT2 FLC) for Delta parallel robot trajectory tracking control. The presented methodology starts with an optimal design problem of IT2 FLC. A group of IT2 FLCs are obtained by blurring the membership functions using a variable called blurring degree. By comparing the performance of the controllers, the optimal structure of IT2 FLC is obtained. Then, a multi-objective optimization problem is formulated to tune the scaling factors of the PID-type IT2 FLC. The Non-dominated Sorting Genetic Algorithm (NSGA-II) is adopted to solve the constrained nonlinear multi-objective optimization problem. Simulation results of the optimized controller are presented and discussed regarding application in the Delta parallel robot. The proposed method provides an effective way to design and tune the PID-type IT2 FLC with a desired control performance.

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“…The system of wheelchair was able to balance at upright position using self-balancing dynamic system and to estimate both the disturbance effecting the pitch and the wheels direction. The Lyapunov controller was used to stabilize the wheelchair system along the pitch direction [36].…”

Section: Introductionmentioning

confidence: 99%

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

Jamin

Ghani

Ibrahim

et al. 2019

International Journal of Simulation: Systems, Science &Amp; Technology

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In this paper, an Interval Type-2 Fuzzy Logic Control (IT2FLC) is proposed to control a two-wheeled wheelchair system which mimics double-links inverted pendulum and known as highly nonlinear, unstable and complex system. The control structures of the two-wheeled wheelchair is based on IT2FLC for balancing and maintaining stability of two-wheeled wheelchair system in the upright position. This paper is aimed to develop a 3-Dimensional (3D) model of two-wheeled wheelchair using a SimWise 4D (SW4D) software, which replace a complex mathematical representation that is obtained using long equation and derivation. The movement of the system is visualized using the SW4D as it is integrated with Matlab Simulink. Simulation results show that the IT2FLC give a good performance in term of tilt angle at zero degree in the upright position.

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Design and Optimization of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot Trajectory Control

Cited by 34 publications

References 33 publications

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Optimal Design and Tuning of PID-Type Interval Type-2 Fuzzy Logic Controllers for Delta Parallel Robots

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

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