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dc.creatorBaturone Castillo, María Iluminadaes
dc.creatorMoreno Velo, Francisco Josées
dc.creatorBlanco, Víctores
dc.creatorFerruz Melero, Joaquínes
dc.date.accessioned2017-03-21T13:57:14Z
dc.date.available2017-03-21T13:57:14Z
dc.date.issued2008
dc.identifier.citationBaturone 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.
dc.identifier.issn0278-0046es
dc.identifier.urihttp://hdl.handle.net/11441/56078
dc.description.abstractFuzzy 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.es
dc.description.sponsorshipComisión Interministerial de Ciencia y Tecnología DPI2005-02293 y TEC2005-04359es
dc.description.sponsorshipJunta de Andalucía TIC2006-635 y TEP2006-375es
dc.formatapplication/pdfes
dc.language.isoenges
dc.publisherInstitute of Electrical and Electronics Engineerses
dc.relation.ispartofIEEE Transactions on Industrial Electronics, 55 (2), 928-936.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectEmbedded systemses
dc.subjectFuzzy controllerses
dc.subjectDSPses
dc.subjectCAD toolses
dc.subjectautonomous robotses
dc.titleDesign of embedded DSP-based fuzzy controllers for autonomous robotses
dc.typeinfo:eu-repo/semantics/articlees
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/acceptedVersiones
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Electrónica y Electromagnetismoes
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería de Sistemas y Automáticaes
dc.relation.projectIDDPI2005-02293es
dc.relation.projectIDTEC2005-04359es
dc.relation.projectIDTIC2006-635es
dc.relation.projectIDTEP2006-375es
dc.relation.publisherversion10.1109/TIE.2007.896547es
dc.identifier.doihttp://dx.doi.org/10.1109/TIE.2007.896547es
idus.format.extent9 p.es
dc.journaltitleIEEE Transactions on Industrial Electronicses
dc.publication.volumen55es
dc.publication.issue2es
dc.publication.initialPage928es
dc.publication.endPage936es
dc.contributor.funderComisión Interministerial de Ciencia y Tecnología (CICYT). España
dc.contributor.funderJunta de Andalucía

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