The IRMA Community
Newsletters
Research IRM
Click a keyword to search titles using our InfoSci-OnDemand powered search:
|
Position and Tilt Control of Two-Wheeled Robot (TWR): A Neuro-Fuzzy Approach
Abstract
This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.
Related Content
|
Kamel Mouloudj, Vu Lan Oanh LE, Achouak Bouarar, Ahmed Chemseddine Bouarar, Dachel Martínez Asanza, Mayuri Srivastava.
© 2024.
20 pages.
|
|
José Eduardo Aleixo, José Luís Reis, Sandrina Francisca Teixeira, Ana Pinto de Lima.
© 2024.
52 pages.
|
|
Jorge Figueiredo, Isabel Oliveira, Sérgio Silva, Margarida Pocinho, António Cardoso, Manuel Pereira.
© 2024.
24 pages.
|
|
Fatih Pinarbasi.
© 2024.
20 pages.
|
|
Stavros Kaperonis.
© 2024.
25 pages.
|
|
Thomas Rui Mendes, Ana Cristina Antunes.
© 2024.
24 pages.
|
|
Nuno Geada.
© 2024.
12 pages.
|
|
|