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Speed control comparison of wheeled mobile robot by ANFIS, Fuzzy and PID controllers

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Abstract

This paper presents the demonstrating and controller structure of the moveable robot that is worked with 2 wheels driven by the dc motor. For dependability of the Wheeled Movable Robot, exact tenacity of engine parameters and controller is consequential. During this composition to manage the celerity of a DC engine, ANFIS, FUZZY and PID input controller is being structured. Initially we contemplated PID Controller, Fuzzy Logic Controller and Adaptive Neuro-Fuzzy Interference System (ANFIS) for regulating velocity of a DC engine. We have broken down the three outcomes to infer what procedure is smarter to be incorporated that can control the velocity of the DC engine more accurately. In this exploration work, MATLAB fuzzy logic toolbox results have been used for simulations of our schematic. Our investigation boundaries incorporate information about electric potential of direct current engine, its speed and settling time of the output signal. This designed methodology has deciphered the results that ANFIS is superior to Fuzzy and PID regulators since it delivers minimal % overshoot and less settling time of the output signal.

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Abbreviations

WMR:

Wheeled mobile robot

DC:

Direct current

PID:

Proportional integral derivative controller

FLC:

Fuzzy logic controller

ANFIS:

Adaptive Neuro-Fuzzy Interference System

MPC:

Model predictive controller

DOF:

Degree of freedom

LQR:

Linear quadratic regulator

UAV’s:

Unmanned aerial vehicles

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Authors and Affiliations

  1. Jamia Millia Islamia, New Delhi, India

    Huma Khan, Shahida Khatoon & Salman Ahmad Khan

  2. NSUT (Netaji Subhas University of Technology), Delhi, India

    Prerna Gaur

Authors
  1. Huma Khan
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  2. Shahida Khatoon
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  3. Prerna Gaur
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  4. Salman Ahmad Khan
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Correspondence to Huma Khan.

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Khan, H., Khatoon, S., Gaur, P. et al. Speed control comparison of wheeled mobile robot by ANFIS, Fuzzy and PID controllers. Int. j. inf. tecnol. 14, 1893–1899 (2022). https://doi.org/10.1007/s41870-022-00862-8

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  • DOI: https://doi.org/10.1007/s41870-022-00862-8

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