Sistemas Inteligentes Lógica Difusa y Sistemas Lineales

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Transcripción de la presentación:

Sistemas Inteligentes Lógica Difusa y Sistemas Lineales Auto-Piloto para Robot Móbil de Dos Cuerpos Articulados Integrando Lógica Difusa y Sistemas Lineales Antonio Moran, PhD, PE

Sistemas Inteligentes Inteligencia: Capacidad para realizar una tarea en forma autónoma Sistema Inteligente: Conoce sus objetivos y el mismo decide cómo lograrlos.

Sistemas Inteligentes Técnicas para el Diseño de Sistemas Inteligentes Redes Neuronales Lógica Difusa Redes Neuro-Difusas Algoritmos Genéticos Support Vector Machines Algoritmos de Colonización Hormiga ………

Truck-Trailer Mobile Robots Used in different fields in industry Faster and cheaper transportation than individual mobile robots

Truck-Trailer Mobile Robots Complex system: nonlinear, unstable, under-actuated, non-holonomic Restriction in the magnitude of truck-trailer angle Difficult to control, especially in backward motion

Truck-Trailer Mobile Robots Problems to Solve Positioning Trajectory Following

Model of Truck-Trailer Mobile Robot No slipping, No skidding Assumptions: Low speed v < 3m/s Backwards v > 0

Model of Truck-Trailer Mobile Robot

Positioning Control Problem Initial Position: Arbitrary Desired Position: Restrictions:

Positioning Control Problem Y Control Strategy For avoiding collision with obstacles, the robot prioritizes achieving the line y = 0 and moves forward afterwards. Coordinate x is not required for control. Desired Position: X Consideration:

Control Problem Mobile Robot Driver Model to be used for control:

Control Problem Neural Networks Fuzzy Logic Driver Flatness Control …… Mobile Robot Driver Neural Networks Fuzzy Logic Driver Flatness Control ……

Control Law Model Linearization Nonlinear Model Desired State Linearized Model

Control Law Around the desired state, the control law is linear: Where k1, k2 and k3 are chosen to stabilize the linear system But, what to do when is high (jack-knife position)

Control Law Fuzzy Partitions of If is Small (Zero), apply linear control law If is Positive Big avoid jack-knife If is Negative Big avoid jack-knife

Control Law Fuzzy Control Law Fuzzy Partitions of Relationship between and Fuzzy Control Law

Control Law for Other Desired Positions The values of are taken to be physically coherent

Control Law for Other Desired Positions Final desired position (convergence)

Linear Trajectory Following Linear path equation Desired instantaneous state Point P

Linear Trajectory Following

Circular Trajectory Following Circular path equation Desired instantaneous state

Circular Trajectory Following

Sinusoidal Trajectory Following

Thank you for your attention!

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