Sistemas Inteligentes Lógica Difusa y Sistemas Lineales

Presentación del tema: "Sistemas Inteligentes Lógica Difusa y Sistemas Lineales"— Transcripción de la presentación:

1 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

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

3 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 ………

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

5 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

6 Truck-Trailer Mobile Robots
Problems to Solve Positioning Trajectory Following

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

8 Model of Truck-Trailer Mobile Robot

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

10 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:

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

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

13 Control Law Model Linearization Nonlinear Model Desired State
Linearized Model

14 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)

15 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

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

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

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

19 Linear Trajectory Following
Linear path equation Desired instantaneous state Point P

20 Linear Trajectory Following

21 Circular Trajectory Following
Circular path equation Desired instantaneous state

22 Circular Trajectory Following

23 Sinusoidal Trajectory Following

24 Thank you for your attention!