Fuzzy Adaptive Application for Control of Single Wheel Mobile Robot (SWMR)
Keywords:
SWMR; Fuzzy Logic; ANFIS; Matlab; Simulink; Membership FunctionAbstract
Single Wheeled Mobile Robot (SWMR) comprises of a robot chassis mounted on a single wheel and capable of
performing 360° orientation rotation while maintaining its stable position. The objective is to control robot
orientation and wheel motion at desired location. The single wheel makes the system more difficult to control as
compared to double wheel robot. This paper presents the control of highly non-linear, multivariable and
complex SWMR system using fuzzy and ANFIS controllers. The fuzzy controllers were used to train the ANFIS
controllers using gbell membership functions. A Matlab-Simulink model of the system was initially developed
from mathematical equations derived using Newton's second law of motion. The simulation results are shown
with the help of graphs and tables which proves the superiority of fuzzy technique over ANFIS approach. The
results showed that fuzzy controllers were able to stabilize the SWMR system within 4.5 sec. The steady state
error for both the controllers shows an excellent response. The maximum overshoot for chassis controller are
within specified limits whereas it needs to be lowered for wheel controller. The performance parameters i.e.
settling time, maximum overshoot and steady state error further highlights the effectiveness of both the
controllers
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