FUZZY LOGIC CONTROLLER ON

TWO WHEELED MOBILE ROBOT

Guided by:

DHANISH VIJAYAN

VINOD B.R
Asst. Prof. Dept. of ECE

Roll No. 6
M1 AEI

OVERVIEW

What is Fuzzy Logic? Fuzzy logic Representation Fuzzy Logic in Control Systems Experimental Setup

Applications

WHAT IS FUZZY LOGIC?

Definition of fuzzy

Fuzzy not clear, distinct, or precise; blurred

Definition of fuzzy logic

A form of knowledge representation suitable for notions that cannot be defined precisely, but which depend upon their contexts.

TRADITIONAL REPRESENTATION OF LOGIC

Slow
Speed = 0

Fast
Speed = 1

bool speed; get the speed if ( speed == 0) { // speed is slow } else { // speed is fast }
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FUZZY LOGIC REPRESENTATION

What are fuzzy sets? For every problem, it must be represented in terms of fuzzy sets.

Slowest
[ 0.0 0.25 ]

Slow
[ 0.25 0.50 ]

Fast
[ 0.50 0.75 ]

Fastest
[ 0.75 1.00 ]
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FUZZY LOGIC REPRESENTATION CONT.

Slowest

Slow

Fast

Fastest
Implemented in VHDL

Implemented in C
float speed; get the speed if ((speed >= 0.0)&&(speed < 0.25)) { // speed is slowest } else if ((speed >= 0.25)&&(speed < 0.5)) { // speed is slow } else if ((speed >= 0.5)&&(speed < 0.75)) { // speed is fast } else // speed >= 0.75 && speed < 1.0 { // speed is fastest }

fuzzy: process(speed) begin if (speed >= "00000000" and speed <= "00111111") then fuzzy_out <= "00"; elsif (speed >= "01000000" and speed <= "01111111") then fuzzy_out <= "01"; elsif (speed >= "10000000" and speed <= "10111111") then fuzzy_out <= "10"; elsif (speed >= "11000000" and speed <= "11111111") then 6 fuzzy_out <= "11"; end if; end process fuzzy;

FUZZY LOGIC IMPLEMENTATION

Acceleration
MEMBERSHIP VALUE

ACCELEROMETER READING
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Slowest

Slow

Fast

Fastest

FUZZY LOGIC IN CONTROL SYSTEMS

Fuzzy Logic provides a more efficient and resourceful way to solve Control Systems.

Some Examples

Temperature Controller Anti Lock Brake System ( ABS ) Waterlevel controller

EXPERIMENTAL SETUP FOR TWOWHEELED MOBILE ROBOT

ACCELEROMETER LSM303 GYROMETER L3GD20 MCU ATMEGA16A MOTOR DRIVER L293D

ROTARY ENCODER 12 BIT PER ROTATION

BLOCK DIAGRAM

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FUZZY LOGIC CONTROLLER EXPLANATION

State variables 1. Position 2. Velocity 3. Tilting angle 4. Angular velocity

Membership values are modeled using Takagi-Sugeno Type which is indicated in the below form

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FUZZY LOGIC CONTROLLER EXPLANATION(cont...)

Two Fuzzy values are used to indicate the state variable changes namely Positive Negative
Membership function used for FLC

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ACCELEROMETER INTERFACED WITH MICROCONTROLLER

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ACCELEROMETER PLOT

Disturbance (mg/bit)

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Sample index

BENEFITS OF USING FUZZY LOGIC

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ADVANTAGES OF FUZZY LOGIC

Code portability and multiplatform support No need of special library or toolbox No overshoots or transients present in the system response

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SOME FUZZY LOGIC APPLICATIONS

MASSIVE (short for Multiple Agent Simulation System in Virtual Environment)

Used to create the large-scale battle scenes in the

Lord of the Rings films, MASSIVE is program for

generating crowd-related visual effects

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APPLICATIONS OF FUZZY LOGIC

Vehicle Control

A number of subway systems, particularly in Japan and Europe, are using fuzzy systems to

control braking and speed. One example is the

Tokyo Monorail

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APPLICATIONS OF FUZZY LOGIC

Application Control Systems

Fuzzy logic is starting to be used to help control appliances ranging from rice cookers to small-

scale microchips.

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REFERENCES
1 Chia-Hung Hsu and Chai-Feng Juang, Evolutionary Robot WallFollowing Control Using Type-2 Fuzzy Controller With Species-DEActivated, IEEE Trans. Fuzzy Sys., vol. 21, no.1, Feb.2013
Santiago Sanchez-Solano, Maria Brox, Ernesto del Toro, Piedad Brox, and Illuminada Baturone, Model-Based Design Methodology for Rapid Development of Fuzzy Controllers on FPGAs, IEEE Trans. Ind. Infor. ,vol. 9, no.3, Aug.2013 Jaeoh Lee, Seongik Han, and Jangmyung Lee, Decoupled Dynamic Control for Pitch and Roll Axes of the Unicycle Robot, IEEE Trans. Ind. Electron., vol. 60,no. 9, Sep. 2013 C.-H. Huang, W.-J. Wang, and C.-H. Chiu, Design and implementation of fuzzy control on a two-wheeled inverted pendulum, IEEE Trans. Ind. Electron., vol. 58, no. 7, pp. 29883001, Jul. 2011 Salmiah Ahmad, N. H. Siddique and M. O. Tokhi, Modular Fuzzy Logic Controller for Motion Control of Two-Wheeled Wheelchair, in Prof. Elmer Dadios (Ed.), ISBN: 978-953-51-0396-7, InTech Journal 2013
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THANK YOU

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