TY - GEN
T1 - PSO tuning for fuzzy PD + i controller applied to a mobile robot trajectory control
AU - Campos, Jefferson
AU - Jaramillo, Sebastian
AU - Morales, Luis
AU - Camacho, Oscar
AU - Chavez, Danilo
AU - Pozo, David
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/5
Y1 - 2018/12/5
N2 - This paper presents an optimal fuzzy PD + I controller designed to control the trajectory of a mobile robot. To tune and obtain the best parameters of the controller, the PSO (Particle Swarm Optimization) algorithm is used. This algorithm minimizes an objective function, in this case, the Integral Square Error (ISE) index of the system, parameter that depends on the linear and angular velocity errors for the optimization process. With this algorithm, the parameters to be optimized are the gains and the membership functions of the fuzzy controller in order to obtain an optimal controller and improve its performance. Finally, in order to validate the proposal, a comparative analysis among the results of a classic PID controller, a conventional Fuzzy PD + I controller and the proposed optimal Fuzzy PD + I controller is performed, evaluating trajectories followed by the robot, the position errors and the control actions of each case.
AB - This paper presents an optimal fuzzy PD + I controller designed to control the trajectory of a mobile robot. To tune and obtain the best parameters of the controller, the PSO (Particle Swarm Optimization) algorithm is used. This algorithm minimizes an objective function, in this case, the Integral Square Error (ISE) index of the system, parameter that depends on the linear and angular velocity errors for the optimization process. With this algorithm, the parameters to be optimized are the gains and the membership functions of the fuzzy controller in order to obtain an optimal controller and improve its performance. Finally, in order to validate the proposal, a comparative analysis among the results of a classic PID controller, a conventional Fuzzy PD + I controller and the proposed optimal Fuzzy PD + I controller is performed, evaluating trajectories followed by the robot, the position errors and the control actions of each case.
KW - Fuzzy Controller
KW - Mobile Robot
KW - Optimization
KW - PSO
UR - https://www.scopus.com/pages/publications/85063231052
U2 - 10.1109/INCISCOS.2018.00017
DO - 10.1109/INCISCOS.2018.00017
M3 - Contribución a la conferencia
AN - SCOPUS:85063231052
T3 - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
SP - 62
EP - 68
BT - Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Y2 - 14 November 2018 through 16 November 2018
ER -