Nonlinear Fuzzy Control of Position and Velocity Using Crisp Outputs Implemented in a General-Purpose Microprocessor

A line follower robot is a classic prototype in automatic control learning and quite applicable in the industry for example in cargo transport, the common control strategy in this type of device is a PD linear controller since it produces a fairly stable response and also for its ease of tuning. The current work presents the design, analysis and implementation of a nonlinear fuzzy control strategy, which generates several operational benefits compared to PD control. For the analysis, the responses of the two types of controllers are compared through simulation algorithms and experimental tests, where parameters such as the response time or the effort in the system actuators are evaluated. In general, the fuzzy controller non-linearity generates some confidence when choosing a control tool for this type of device. Finally, a speed control strategy easily adaptable to the fuzzy position controller is presented in such a way that the travel time is further optimized.