Abstract
In this paper, it will be presented the analysis of different controllers schemes for an omnidirectional robot. The models studied are \( P \), \( PI \), \( Fuzzy \) and \( Fuzzy\,PI \) controllers. These were implemented using Simulink Tool of Matlab and tested in Robotino View. The objective is to control the command velocities to drive two linear directions of the robot, from an initial position to a final position without obstacles. The analysis compares time and distance to determine the performance of each them.
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The authors would like to express our thankful to CONACYT, CIC-IPN and Tijuana Institute of Technology by their support to this research work.
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Luna-Lobano, L., Cortés-Antonio, P., Castillo, O., Melin, P. (2020). Analysis of P, PI, Fuzzy and Fuzzy PI Controllers for Control Position in Omnidirectional Robots. In: Castillo, O., Melin, P., Kacprzyk, J. (eds) Intuitionistic and Type-2 Fuzzy Logic Enhancements in Neural and Optimization Algorithms: Theory and Applications. Studies in Computational Intelligence, vol 862. Springer, Cham. https://doi.org/10.1007/978-3-030-35445-9_26
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DOI: https://doi.org/10.1007/978-3-030-35445-9_26
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