Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application

This paper proposes a low pass filter and hybrid fuzzy design for balancing an extendable double-link two-wheel mobile robot (TWMR) system. The proposed system mimics a double inverted pendulum scenario, where the angular position of the first link (Link1) is to be varied depending on the value of t...

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Main Authors:	Abdul Rahman, M. T., Ahmad, Salmiah, Akmeliawati, Rini
Format:	Article
Language:	English
Published:	UNSYS digital 2014
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/41754/ http://irep.iium.edu.my/41754/ http://irep.iium.edu.my/41754/1/taqiIJRM2014.pdf

id	iium-41754
recordtype	eprints
spelling	iium-417542018-06-29T03:00:10Z http://irep.iium.edu.my/41754/ Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application Abdul Rahman, M. T. Ahmad, Salmiah Akmeliawati, Rini TJ212 Control engineering This paper proposes a low pass filter and hybrid fuzzy design for balancing an extendable double-link two-wheel mobile robot (TWMR) system. The proposed system mimics a double inverted pendulum scenario, where the angular position of the first link (Link1) is to be varied depending on the value of the angular position of the second link (Link2) and the elongation of the extendable link (Link3) attached to Link2 and with various payloads. The two-wheeled mobile robot together with the extendable link on Link2 makes the system become more flexible but yet unstable without any controller. The inclination of the Link3 at any interest angle of Link2 will affect the centre of gravity (COG) of the system especially when the payload is having a significant weight. Although, the system can be balanced by controlling the COG analysis via the hybrid fuzzy controller, but the responses are still oscillating and not smooth. Thus, an additional low pass filter is designed and added to shape the controller outputs, before the signals are fed into the TWMR system. The results obtained show that the filter designed managed to improve the oscillating and smoothing of the angular position of Link1 and Link2 within a shorter time. The performance of the system, such as the settling time and the rise time of the responses are improved by at least 43%. Meanwhile, the root mean square error of the responses can be improved up to 60.7%. UNSYS digital 2014 Article PeerReviewed application/pdf en http://irep.iium.edu.my/41754/1/taqiIJRM2014.pdf Abdul Rahman, M. T. and Ahmad, Salmiah and Akmeliawati, Rini (2014) Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application. International Journal of Robotics and Mechatronics, 1 (4). pp. 133-137. ISSN 2288-5889 http://ojs.unsysdigital.com/index.php/ijrm/article/view/135
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Abdul Rahman, M. T. Ahmad, Salmiah Akmeliawati, Rini Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
description	This paper proposes a low pass filter and hybrid fuzzy design for balancing an extendable double-link two-wheel mobile robot (TWMR) system. The proposed system mimics a double inverted pendulum scenario, where the angular position of the first link (Link1) is to be varied depending on the value of the angular position of the second link (Link2) and the elongation of the extendable link (Link3) attached to Link2 and with various payloads. The two-wheeled mobile robot together with the extendable link on Link2 makes the system become more flexible but yet unstable without any controller. The inclination of the Link3 at any interest angle of Link2 will affect the centre of gravity (COG) of the system especially when the payload is having a significant weight. Although, the system can be balanced by controlling the COG analysis via the hybrid fuzzy controller, but the responses are still oscillating and not smooth. Thus, an additional low pass filter is designed and added to shape the controller outputs, before the signals are fed into the TWMR system. The results obtained show that the filter designed managed to improve the oscillating and smoothing of the angular position of Link1 and Link2 within a shorter time. The performance of the system, such as the settling time and the rise time of the responses are improved by at least 43%. Meanwhile, the root mean square error of the responses can be improved up to 60.7%.
format	Article
author	Abdul Rahman, M. T. Ahmad, Salmiah Akmeliawati, Rini
author_facet	Abdul Rahman, M. T. Ahmad, Salmiah Akmeliawati, Rini
author_sort	Abdul Rahman, M. T.
title	Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
title_short	Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
title_full	Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
title_fullStr	Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
title_full_unstemmed	Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
title_sort	low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application
publisher	UNSYS digital
publishDate	2014
url	http://irep.iium.edu.my/41754/ http://irep.iium.edu.my/41754/ http://irep.iium.edu.my/41754/1/taqiIJRM2014.pdf
first_indexed	2023-09-18T20:59:42Z
last_indexed	2023-09-18T20:59:42Z
_version_	1777410540848545792

Low pass filter with hybrid fuzzy design for balancing the two-wheeled mobile robot application

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