A fuzzy controller design for a stem-vibration strawberry harvester robot

Keyvan Asefpour Vakilian; Payam Zarafshan

doi:10.1109/ICSPIS56952.2022.10043899

A fuzzy controller design for a stem-vibration strawberry harvester robot

Keyvan Asefpour Vakilian
, Payam Zarafshan

Gorgan University of Agricultural Sciences and Natural Resources
University of Tehran

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

2 Citations (Scopus)

Abstract

Recent studies have shown the acceptable performance of robotic solutions as reliable techniques in agricultural fields. Robotic fruit shakers contain planar mechanisms with a high degree of freedom. This research involved the performance evaluation of several conventional controllers, as well as a fuzzy controller, in controlling the vibration of a strawberry fruit-stem system using a five-degree-of-freedom air-suspension stem-vibration (ASSV) mechanism. The displacement and angular velocity of strawberry fruit, as the last arm of the mechanism, is studied during the experiments. Simulation results revealed that compared to optimal, high-passed filter, and low-passed filter controllers, an intelligent controller based on the fuzzy inference system resulted in more appropriate performance with appropriate settling time and maximum overshoot of the study state variables.

Original language	English
Title of host publication	Proceedings of the 8th International Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS 2022), Mazandaran, Iran, 28th and 29th December 2022
Place of Publication	U.S.
Publisher	IEEE
Number of pages	5
ISBN (Electronic)	9781665476232
ISBN (Print)	9781665476249
DOIs	https://doi.org/10.1109/ICSPIS56952.2022.10043899
Publication status	Published - Dec 2022
Externally published	Yes
Event	International Iranian Conference on Signal Processing and Intelligent Systems - Mazandaran, Iran, Islamic Republic of Duration: 28 Dec 2022 → 29 Dec 2022 Conference number: 8th

Conference

Conference	International Iranian Conference on Signal Processing and Intelligent Systems
Abbreviated title	ICSPIS
Country/Territory	Iran, Islamic Republic of
City	Mazandaran
Period	28/12/22 → 29/12/22

Keywords

ADAMS software
Fuzzy controller
Optimal control

Access to Document

10.1109/ICSPIS56952.2022.10043899

Cite this

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title = "A fuzzy controller design for a stem-vibration strawberry harvester robot",

abstract = "Recent studies have shown the acceptable performance of robotic solutions as reliable techniques in agricultural fields. Robotic fruit shakers contain planar mechanisms with a high degree of freedom. This research involved the performance evaluation of several conventional controllers, as well as a fuzzy controller, in controlling the vibration of a strawberry fruit-stem system using a five-degree-of-freedom air-suspension stem-vibration (ASSV) mechanism. The displacement and angular velocity of strawberry fruit, as the last arm of the mechanism, is studied during the experiments. Simulation results revealed that compared to optimal, high-passed filter, and low-passed filter controllers, an intelligent controller based on the fuzzy inference system resulted in more appropriate performance with appropriate settling time and maximum overshoot of the study state variables.",

keywords = "ADAMS software, Fuzzy controller, Optimal control",

author = "Vakilian, \{Keyvan Asefpour\} and Payam Zarafshan",

year = "2022",

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doi = "10.1109/ICSPIS56952.2022.10043899",

language = "English",

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booktitle = "Proceedings of the 8th International Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS 2022), Mazandaran, Iran, 28th and 29th December 2022",

publisher = "IEEE",

note = "International Iranian Conference on Signal Processing and Intelligent Systems, ICSPIS ; Conference date: 28-12-2022 Through 29-12-2022",

}

Vakilian, KA & Zarafshan, P 2022, A fuzzy controller design for a stem-vibration strawberry harvester robot. in Proceedings of the 8th International Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS 2022), Mazandaran, Iran, 28th and 29th December 2022. IEEE, U.S., International Iranian Conference on Signal Processing and Intelligent Systems, Mazandaran, Iran, Islamic Republic of, 28/12/22. https://doi.org/10.1109/ICSPIS56952.2022.10043899

A fuzzy controller design for a stem-vibration strawberry harvester robot. / Vakilian, Keyvan Asefpour; Zarafshan, Payam.
Proceedings of the 8th International Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS 2022), Mazandaran, Iran, 28th and 29th December 2022. U.S.: IEEE, 2022.

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - A fuzzy controller design for a stem-vibration strawberry harvester robot

AU - Vakilian, Keyvan Asefpour

AU - Zarafshan, Payam

N1 - Conference code: 8th

PY - 2022/12

Y1 - 2022/12

N2 - Recent studies have shown the acceptable performance of robotic solutions as reliable techniques in agricultural fields. Robotic fruit shakers contain planar mechanisms with a high degree of freedom. This research involved the performance evaluation of several conventional controllers, as well as a fuzzy controller, in controlling the vibration of a strawberry fruit-stem system using a five-degree-of-freedom air-suspension stem-vibration (ASSV) mechanism. The displacement and angular velocity of strawberry fruit, as the last arm of the mechanism, is studied during the experiments. Simulation results revealed that compared to optimal, high-passed filter, and low-passed filter controllers, an intelligent controller based on the fuzzy inference system resulted in more appropriate performance with appropriate settling time and maximum overshoot of the study state variables.

AB - Recent studies have shown the acceptable performance of robotic solutions as reliable techniques in agricultural fields. Robotic fruit shakers contain planar mechanisms with a high degree of freedom. This research involved the performance evaluation of several conventional controllers, as well as a fuzzy controller, in controlling the vibration of a strawberry fruit-stem system using a five-degree-of-freedom air-suspension stem-vibration (ASSV) mechanism. The displacement and angular velocity of strawberry fruit, as the last arm of the mechanism, is studied during the experiments. Simulation results revealed that compared to optimal, high-passed filter, and low-passed filter controllers, an intelligent controller based on the fuzzy inference system resulted in more appropriate performance with appropriate settling time and maximum overshoot of the study state variables.

KW - ADAMS software

KW - Fuzzy controller

KW - Optimal control

UR - https://www.scopus.com/pages/publications/85149435760

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DO - 10.1109/ICSPIS56952.2022.10043899

M3 - Conference Paper

AN - SCOPUS:85149435760

SN - 9781665476249

BT - Proceedings of the 8th International Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS 2022), Mazandaran, Iran, 28th and 29th December 2022

PB - IEEE

CY - U.S.

T2 - International Iranian Conference on Signal Processing and Intelligent Systems

Y2 - 28 December 2022 through 29 December 2022

ER -

A fuzzy controller design for a stem-vibration strawberry harvester robot

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