Two-Wheeled LEGO EV3 Robot Stabilisation Control Using Fuzzy Logic Based PSO Algorithm

Authors

  • M. F. Maharuddin Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang
  • N. M. Abdul Ghani Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang
  • N. F. Jamin Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang

Keywords:

Lego EV3 Robot, Fuzzy Logic Control, Particle Swarm Optimization, Two-Wheeled Stabilisation,

Abstract

This paper presents a control system design to stabilise a two-wheeled Lego EV3 robot. This robot is developed based on the inverted pendulum. The mathematical modelling is derived based on this robot and using Euler Lagrange equation and represented in Simulink block diagram. The fuzzy logic controller is used to stabilise this robot with Particle Swarm Optimization algorithm for optimum performance of the system. The result of the fuzzy logic controller without optimisation is compared with the fuzzy logic controller with optimisation. Using the Simulink block diagram, the result of optimum tilt angle and control input signal are presented. The results show that the fuzzy logic controller with optimisation is able to improve the performance of the solution when compared to the fuzzy logic controller without optimisation.

References

N. Ghani, N. Yatim, and N. Azmi, “Comparative assessment for two wheels inverted pendulum mobile robot using robust control,” Control Automation and Systems (ICCAS), 2010 International Conference on, pp. 562–567, 2010.

S. Ahmad and M. O. Tokhi, “Forward and backward motion control of wheelchair on two wheels,” 2008 3rd IEEE Conf. Ind. Electron. Appl., pp. 461–466, 2008.

Mathew, Sheelu Treesa, and S. J. Mija. "Design of H2 controller for stabilization of two-wheeled inverted pendulum." In Advanced Communication Control and Computing Technologies (ICACCCT), 2014 International Conference on, pp. 174-179, 2014.

R. E. Precup, R. C. David, E. M. Petriu, M. B. Rǎdac, S. Preitl, and J. Fodor, “Evolutionary optimization-based tuning of low-cost fuzzy controllers for servo systems,” Knowledge-Based Syst., vol. 38, pp. 74– 84, 2013.

S. Ahmad, M.O Tokhi and S.F Toha, “Genetic Algorithm Optimisation for Fuzzy Control of Wheelchair Lifting and Balancing”, Proceeding of Third UKSim European Symposium on Computer Modeling and Simulation, 2009.

Y.-H. Chang, C.-W. Chang, C.-W. Tao, H.-W. Lin, and J.-S. Taur, “Fuzzy sliding-mode control for ball and beam system with fuzzy ant colony optimization,” Expert Syst. Appl., vol. 39, no. 3, pp. 3624–3633, 2012.

D. Wang, G. Wang, and R. Hu, “Parameters optimization of fuzzy controller based on PSO,” 2008 3rd Int. Conf. Intell. Syst. Knowl. Eng., pp. 599–603, 2008.

D. T. Pham, a. H. Darwish, and E. E. Eldukhri, “Optimisation of a fuzzy logic controller using the Bees Algorithm,” pp. 475–480, 2009.

S. B. Chandra Debnath, P. Chandra Shill, and K. Murase, “Particle Swarm Optimization Based Adaptive Strategy for Tuning of Fuzzy Logic Controller.,” Int. J. Artif. Intell. Appl., vol. 4, no. 1, pp. 37–50, 2013.

Z.-L. Gaing, “A Particle Swarm Optimization Approach for Optimum Design of PID Controller in AVR System,” IEEE Trans. Energy Convers., vol. 19, no. 2, pp. 384–391, 2004.

Q. Bai, “Analysis of Particle Swarm Optimization Algorithm,” Comput. Inf. Sci., vol. 3, no. 1, pp. 180–184, 2010.

A. Aula, S. Ahmad and R. Akmeliawati, “PSO-Based State Feedback Regulator for Stabilizing a Two-Wheeled Wheelchair in Balancing Mode,” 10th Asian Control Conference, IEEE, 2015.

Downloads

Published

2018-07-04

How to Cite

Maharuddin, M. F., Abdul Ghani, N. M., & Jamin, N. F. (2018). Two-Wheeled LEGO EV3 Robot Stabilisation Control Using Fuzzy Logic Based PSO Algorithm. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(2-5), 149–153. Retrieved from https://jtec.utem.edu.my/jtec/article/view/4402

Issue

Vol. 10 No. 2-5: Embracing The 4th Industrial Revolution: Innovation in Telecommunication, Electronic & Computer Engineering I

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.