- Tytuł:
- Research of an omnidirectional mecanum-wheeledplatform with a fuzzy logic controller
- Autorzy:
-
Typiak, A.
Rykała, Ł. - Powiązania:
- https://bibliotekanauki.pl/articles/245432.pdf
- Data publikacji:
- 2018
- Wydawca:
- Instytut Techniczny Wojsk Lotniczych
- Tematy:
-
FLC
PID controller
DC motor
kinematics
wheeled platforms
mecanum wheel
fuzzy logic
kontroler PID
silnik prądu stałego
kinematyka
platforma kołowa
logika rozmyta - Opis:
- This article presents the process of designing a fuzzy logic controller (FLC) to be applied in the control system for the tracking movement of an omnidirectional Mecanum-wheeled platform, where the tracking movement is defined as the execution of a specific movement of the omnidirectional Mecanum-wheeled platform along a preset path. The conventional PID controller, which is a popular choice for control systems, was replaced with a control algorithm featuring fuzzy logic elements. The findings from numerical testing of the control system with the applied FLC were compared with the results of numerical testing using a variant of a conventional PID controller. The comparison led to a feasibility study of the FLC for the kinematic control of the omnidirectional Mecanum-wheeled platform. The article compares the results of applying an FLC and a variant of a conventional PID controller for the tracking control of an omnidirectional-wheeled platform with mecanum wheels. It was assumed in this work that kinematic equations would be sufficient in this case to plan the trajectory (path) of a characteristic point for the omnidirectional-wheeled platform.
- Źródło:
-
Journal of KONES; 2018, 25, 1; 423-432
1231-4005
2354-0133 - Pojawia się w:
- Journal of KONES
- Dostawca treści:
- Biblioteka Nauki
Artykuł