Velocity Control for Spherical Robot using PI-Fuzzy Logic

Abstract

This paper presents the finding on designing the fuzzy logic controller and analysis of the step input test on the model and control design. The PI-type fuzzy logic controller (FLC) was designed to control the velocity of the rolling spherical robot. The spherical robot model was tested with step input signal to analysis the effectiveness of the designed Fuzzy logic controller with 25-membership rule being constructed in Fuzzy toolbox MATLAB using triangular membership function and combination of gaussian and sigmoidal membership function. The output scaling factor (output gain) of FLC was tuned using Response Optimization toolbox and Particle Swarm Optimization to improve the system performance. Optimization using Matlab toolbox is done by specified the desired step response characteristics while in PSO, minimizing the Integral Absolute Error (IAE) is used as on objective of the optimization. The combined membership function shows better performance with less 8% overshoot, rise time less than 2s and settle at less than 3s after the response optimization process. Meanwhile, the PSO manage to tune the gain to reduce the IAE but contain large overshoot and longer settling time.

Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification

“…Although the PID controller does not require model-based operation, there are problems such as excessive overshoot or long adjustment time in the control effect. 14,15 Liu et al achieved acceptable results for a range of speeds in longitudinal control using linear quadratic regulator (LQR). 16 The sliding mode control is also used in the control of SMRs this year, but its free-chattering problem has great harm to the actuator.…”

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

“…Over the last few years, a series of works have been made on the control of the spherical robot. The majority of study concentrates on the spherical robot's velocity control [1], [2], [4], [9]- [12].Several studies, for instance, develop a velocity controller based on feedback control, such as a PI-type fuzzy logic controller [10]. Linear quadratic regulator (LQR) and sliding mode controller (SMC) are also utilized in the design of velocity controllers [1], [12].…”