Bibliographic citations
García, M., Moncada, L. (2022). Autosintonización difusa orientada al control de velocidad de un robot diferencial tipo oruga diseñado para un terreno agrícola de La Libertad [Tesis, Universidad Privada Antenor Orrego - UPAO]. https://hdl.handle.net/20.500.12759/9682
García, M., Moncada, L. Autosintonización difusa orientada al control de velocidad de un robot diferencial tipo oruga diseñado para un terreno agrícola de La Libertad [Tesis]. PE: Universidad Privada Antenor Orrego - UPAO; 2022. https://hdl.handle.net/20.500.12759/9682
@misc{sunedu/3633977,
title = "Autosintonización difusa orientada al control de velocidad de un robot diferencial tipo oruga diseñado para un terreno agrícola de La Libertad",
author = "Moncada Calmet, Luis Felipe",
publisher = "Universidad Privada Antenor Orrego - UPAO",
year = "2022"
}
The present research work consisted in the evaluation of self-tuned speed controls by fuzzy logic corresponding to different numbers of diffusification and defuzzification zones in its fuzzy system, implemented in a caterpillar-type differential mobile robot and performed in an agricultural field at different speeds. All this, in order to determine the characteristics in the time domain for each self-tuning system at different speeds in agricultural land; which are usually difficult to access for robots not designed in conditions of irregularity in their trajectory. The work started with the support of the use of self-tuning controllers based on fuzzy logic. It was mentioned that most of the plants in the real world are non-linear and variant in time, therefore, for their activation by means of classical control, they must be linearized, thus losing precision in the control. Likewise, the state of the art was presented where all the theory was presented in relation to the differential robot kinematics, discrete control, fuzzy logic and control gain auto-tuning. The work continued with the implementation of algorithms with different numbers of diffusion and defuzzification zones for the self-tuned fuzzy controller and taking into account the eradication of deviations, the design method and characteristics for the controller were explained, following a protocol that helped to compare their performance equally for each number of zones. Subsequently, the controllers were subjected to an agricultural soil, where the process was documented and the characteristics in the time domain corresponding to the process variable of each robot motor were extracted; such as the settling time, rise time, peak time, delay time, the percentage of maximum overshoot and the stationary error, with the purpose of performing the analysis of each fuzzy system and its comparison. Finally, the work concluded with the presentation of the most suitable controllers corresponding to certain characteristics in the time domain that represent stability, accuracy, speed and average deviation.
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