The effect of the number of inference rules of a fuzzy controller on the quality of control of a mobile robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F75081431%3A_____%2F19%3A00001935" target="_blank" >RIV/75081431:_____/19:00001935 - isvavai.cz</a>
Result on the web
<a href="http://apps.webofknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=1&SID=D3yHNvF8LQouu94V4hf&page=1&doc=1" target="_blank" >http://apps.webofknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=1&SID=D3yHNvF8LQouu94V4hf&page=1&doc=1</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1051/matecconf/201929905002" target="_blank" >10.1051/matecconf/201929905002</a>
Alternative languages
Result language
angličtina
Original language name
The effect of the number of inference rules of a fuzzy controller on the quality of control of a mobile robot
Original language description
The application of intelligent control algorithms in the field of autonomous mobile robotics enables effective control of mobile robots with a minimal possible error. At present, most of commonly used systems to control an autonomous mobile robot are, however, too complicated to design. Our goal was to design a fuzzy controller with an optimal number of inference rules in a way to achieve the best possible level of quality of mobile robot control. The proposed controller was implemented in the mobile robot EN20, where the time of regulation and the absolute and the quadratic control surface were used to evaluate quality parameters. The analysis of the quality of control was performed with the use of a fuzzy controller with 9, 25 and 49 inference rules. We found from the results of modelling that the greatest influence on the quality of control of a mathematical model of the mobile robot had the number of inference rules of the fuzzy controller. Mathematical and graphical dependence of the quality of control on the number of inference rules was calculated from the parameters of the quality of control. The results of the research are equations of the curves of the individual parameters of control of quality, which show that for the control of the autonomous mobile robot EN 20, that the optimal fuzzy controller has 49 inference rules, triangular functions of the pertinence of individual linguistic values and it is defuzzificated by Centroid method.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
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Continuities
V - Vyzkumna aktivita podporovana z jinych verejnych zdroju
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modern Technologies in Manufacturing
ISBN
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ISSN
2261-236X
e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
E D P SCIENCES
Place of publication
Neuveden
Event location
Cluj Napoca
Event date
Oct 9, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000568128200051