Comparative Study of the Conventional Mathematical and Fuzzy Logic Controllers for Velocity Regulation

Abstract

Currently, we are in the digital era, where robotics, with the help of the Internet of Things (IoT), is exponentially advancing, and in the technology market we can find multiple devices for achieving these systems, such as the Raspberry Pi, Arduino, and so on. The use of these devices makes our work easier regarding processing information or controlling physical mechanisms, as some of these devices have microcontrollers or microprocessors. One of the main challenges in speed control applications is to make the decision to use a fuzzy logic control (FLC) system instead of a conventional controller system, such as a proportional integral (PI) or a proportional integral-derivative (PID). The main contribution of this paper is the design, integration, and comparative study of the use of these three types of controllers—FLC, PI, and PID—for the speed control of a robot built using the Lego Mindstorms EV3 kit. The root mean square error (RMSE) and the settling time were used as metrics to validate the performance of the speed control obtained with the controllers proposed in this paper.

Keywords

• fuzzy logic control
• proportional integral
• proportional integral derivative
• Lego Mindstorms EV3
• closed loop control