Enhancement of Non-Holonomic Leader-Follower Formation Using Interval Type-2 Fuzzy Logic Controller

InterEspaço: Revista de Geografia e Interdisciplinaridade

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Title Enhancement of Non-Holonomic Leader-Follower Formation Using Interval Type-2 Fuzzy Logic Controller
Creator Tutuko, Bambang; Intelligent System Research Group, Universitas Sriwijaya
Nurmaini, Siti; Intelligent System Research Group, Universitas Sriwijaya
Saparudin, Saparudin; Informatics Engineering Department, Faculty of Computer Science, Sriwijaya University
Fitriana, Gita Fadila
Subject Leader-Follower Robot, Interval type-2 fuzzy logic, Formation control, Swarm robot
Description Robotics control system with leader-follower approach has a weakness in the case of formation failure if the leader robot fails. To overcome such problem, this paper proposes the formation control using Interval Type-2-Fuzzy Logic controller (IT2FLC). To validate the performance of the controller, simulations were performed with various environmental systems such as open spaces, complexes, circles and ovals with several parameters. The performance of IT2FLC will be compared with Type-1 Fuzzy Logic (T1FL) and Proportional Integral and Derivative (PID) controller. As the results found using IT2FLC has advantages in environmental uncertainty, sensor imprecision and inaccurate actuator. Moreover, IT2FLC produce good performance compared to T1FLC and PID controller in the above environments, in terms of small data generated in the fuzzy process, the rapid response of the leader robot to avoid collisions and stable movements of the follower robot to follow the leader's posture to reach the target without a crash. Especially in some situations when a leader robot crashes or stops due to hardware failure, the follower robot still continue move to the target without a collision.
Publisher kassel university press GmbH
Contributor Universitas Sriwijaya, Indonesia
Date 2018-09-30
Type info:eu-repo/semantics/article

Format application/pdf
Identifier https://online-journals.org/index.php/i-joe/article/view/8568
Source International Journal of Online and Biomedical Engineering (iJOE); Vol 14, No 09 (2018); pp. 124-142
Language eng
Relation https://online-journals.org/index.php/i-joe/article/view/8568/5186
Rights Copyright (c) 2018 Siti Nurmaini, Gita Fadila Fitriana

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