Tree pruning robot tilting control using fuzzy logic

Pengfei Gui, Liqiong Tang, Subhas Mukhopadhyay

    Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution


    This paper presents an intelligent control strategy for a wheel type tree pruning robot tilting control during climbing procedure. There are two types of tilting scenarios needed to be considered, initial setting tilt and dynamic tilt. To compensate the initial installation tilt, a tiling fuzzy controller is specifically designed to adjust the robot platform to the horizontal position before climbing up. For robot dynamic tilt, which is mainly caused by wheel slippage during the climbing, a slippage fuzzy control system is developed through the control of stepper and DC motor via the IMU. The fuzzy controllers were implemented in MATLAB Simulink and simulated in SimMechanics. The simulations verify the feasibility of the robot tilting control algorithm and the effectiveness of the fuzzy controllers.

    Original languageEnglish
    Title of host publication2017 Eleventh International Conference on Sensing Technology (ICST)
    Subtitle of host publicationproceedings
    Place of PublicationPiscataway, NJ
    PublisherInstitute of Electrical and Electronics Engineers (IEEE)
    Number of pages5
    ISBN (Electronic)9781509065264, 9781509065257
    ISBN (Print)9781509065271
    Publication statusPublished - 2017
    Event11th International Conference on Sensing Technology, ICST 2017 - Sydney, Australia
    Duration: 4 Dec 20176 Dec 2017


    Conference11th International Conference on Sensing Technology, ICST 2017


    • tree pruning robot
    • tilting control
    • fuzzy controller
    • IMU
    • wheel slippage control

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