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PSO-Optimized Fuzzy Logic Controller for a Single Wheel Robot

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Trends in Intelligent Robotics (FIRA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

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Abstract

A fuzzy logic controller (FLC) for steering control of a single wheel robot with fuzzy membership functions optimized using particle swarm optimization (PSO) is presented in this paper. The single wheel robot is statically unstable and has nonlinear dynamics when it is in motion. Design of a linear controller is anything but straightforward. At an earlier stage of development, the wheel was controlled manually using remote control console. That experience is transformed into a linguistic based control, e.g., FLC. However, the issue of selecting various functions and parameters for FLC still remains to be resolved. In this work, Particle Swarm Optimization (PSO) is used to optimize the membership functions of the FLC.

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Author information

Authors and Affiliations

  1. Electrical and Computer Engineering, National University of Singapore, Singapore, 117576

    Abdullah Al-Mamun & Zhen Zhu

Authors
  1. Abdullah Al-Mamun
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  2. Zhen Zhu
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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Al-Mamun, A., Zhu, Z. (2010). PSO-Optimized Fuzzy Logic Controller for a Single Wheel Robot. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_42

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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