The effect of the number of inference rules of a fuzzy controller on the quality of control of a mobile robot

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1051/matecconf/201929905002" target="_blank" >10.1051/matecconf/201929905002</a>

Jazyk výsledku

angličtina

Název v původním jazyce

The effect of the number of inference rules of a fuzzy controller on the quality of control of a mobile robot

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

The effect of the number of inference rules of a fuzzy controller on the quality of control of a mobile robot

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

V - Vyzkumna aktivita podporovana z jinych verejnych zdroju

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modern Technologies in Manufacturing

ISBN

—

ISSN

2261-236X

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

E D P SCIENCES

Místo vydání

Neuveden

Místo konání akce

Cluj Napoca

Datum konání akce

9. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000568128200051