Artículo
Design of embedded DSP-based fuzzy controllers for autonomous robots
Autor/es | Baturone Castillo, María Iluminada
Moreno Velo, Francisco José Blanco, Víctor Ferruz Melero, Joaquín |
Departamento | Universidad de Sevilla. Departamento de Electrónica y Electromagnetismo Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2008 |
Fecha de depósito | 2017-03-21 |
Publicado en |
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Resumen | Fuzzy controllers are used in many applications because of their rapid design by translating heuristic knowledge, robustness against perturbations, and smoothness in the control action. However, they require parallel ... Fuzzy controllers are used in many applications because of their rapid design by translating heuristic knowledge, robustness against perturbations, and smoothness in the control action. However, they require parallel processing and special operators (such as fuzzification or defuzzification) which are not available in standard digital signal processors (DSPs), thus complicating their direct implementation. This paper describes an efficient design methodology that allows starting with any kind of fuzzy controller and subsequently transforming it until a system suitable for easy DSP implementation is obtained. Such methodology is greatly aided by the design environment Xfuzzy 3. The parking problem of an autonomous robot is described to illustrate the steps of this methodology. Real experiments with the autonomous robot ROMEO 4R demonstrate efficiency of the designed fuzzy controller embedded into a stand-alone card based on a fixed-point DSP from Texas Instruments. |
Agencias financiadoras | Comisión Interministerial de Ciencia y Tecnología (CICYT). España Junta de Andalucía |
Identificador del proyecto | DPI2005-02293
TEC2005-04359 TIC2006-635 TEP2006-375 |
Cita | Baturone Castillo, M.I., Moreno Velo, F.J., Blanco, V. y Ferruz Melero, J. (2008). Design of embedded DSP-based fuzzy controllers for autonomous robots. IEEE Transactions on Industrial Electronics, 55 (2), 928-936. |
Ficheros | Tamaño | Formato | Ver | Descripción |
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DSP-based.pdf | 1.250Mb | [PDF] | Ver/ | |