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

Authors

  • Bambang Tutuko Intelligent System Research Group, Universitas Sriwijaya
  • Siti Nurmaini Intelligent System Research Group, Universitas Sriwijaya
  • Saparudin Saparudin Informatics Engineering Department, Faculty of Computer Science, Sriwijaya University
  • Gita Fadila Fitriana

DOI:

https://doi.org/10.3991/ijoe.v14i09.8568

Keywords:

Leader-Follower Robot, Interval type-2 fuzzy logic, Formation control, Swarm robot

Abstract


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.

Author Biographies

Bambang Tutuko, Intelligent System Research Group, Universitas Sriwijaya

a lecture at Computer Engineering Department, Faculty of Computer Science, Sriwijaya University

Siti Nurmaini, Intelligent System Research Group, Universitas Sriwijaya

a lecture at Computer Engineering Department, Faculty of Computer Science, Sriwijaya University, Indonesia. She often works as General Chair for international conferences (ICECOS) and Editor in Chief of International Journal Computer Engineering and Applications.

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Published

2018-09-30

How to Cite

Tutuko, B., Nurmaini, S., Saparudin, S., & Fitriana, G. F. (2018). Enhancement of Non-Holonomic Leader-Follower Formation Using Interval Type-2 Fuzzy Logic Controller. International Journal of Online and Biomedical Engineering (iJOE), 14(09), pp. 124–142. https://doi.org/10.3991/ijoe.v14i09.8568

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Papers