PSO tuning for fuzzy PD + i controller applied to a mobile robot trajectory control

Jefferson Campos, Sebastian Jaramillo, Luis Morales, Oscar Camacho, Danilo Chavez, David Pozo

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

13 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas62-68
Número de páginas7
ISBN (versión digital)9781538676127
DOI
EstadoPublicada - 5 dic. 2018
Publicado de forma externa
Evento3rd International Conference on Information Systems and Computer Science, INCISCOS 2018 - Quito, Ecuador
Duración: 14 nov. 201816 nov. 2018

Serie de la publicación

NombreProceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
Volumen2018-December

Conferencia

Conferencia3rd International Conference on Information Systems and Computer Science, INCISCOS 2018
País/TerritorioEcuador
CiudadQuito
Período14/11/1816/11/18

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