{"id":4355,"date":"2018-06-12T17:02:56","date_gmt":"2018-06-12T10:02:56","guid":{"rendered":"https:\/\/gulfthai.com\/?p=4355"},"modified":"2022-01-07T12:05:13","modified_gmt":"2022-01-07T05:05:13","slug":"%e0%b8%a7%e0%b8%b4%e0%b8%88%e0%b8%b1%e0%b8%a2%e0%b9%81%e0%b8%a5%e0%b8%b0%e0%b8%9e%e0%b8%b1%e0%b8%92%e0%b8%99%e0%b8%b2-%e0%b8%81%e0%b8%b2%e0%b8%a3%e0%b8%84%e0%b8%a7%e0%b8%9a%e0%b8%84%e0%b8%b8%e0%b8%a1","status":"publish","type":"post","link":"https:\/\/gulfthai.com\/?p=4355","title":{"rendered":"Ball Balancing on a Stewart Platform using Fuzzy Supervisory PID Visual Servo Control \u0e27\u0e34\u0e08\u0e31\u0e22\u0e41\u0e25\u0e30\u0e1e\u0e31\u0e12\u0e19\u0e32 \u0e01\u0e32\u0e23\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2a\u0e08\u0e4a\u0e27\u0e15 \u0e41\u0e1e\u0e25\u0e15\u0e1f\u0e2d\u0e23\u0e4c\u0e21\u0e40\u0e1e\u0e37\u0e48\u0e2d\u0e01\u0e32\u0e23\u0e17\u0e23\u0e07\u0e15\u0e31\u0e27"},"content":{"rendered":"\n<p>K. Yaovaja, &#8220;Ball Balancing on a Stewart Platform using Fuzzy Supervisory PID Visual Servo Control,&#8221;&nbsp;<em>2018 5th International Conference on Advanced Informatics: Concept Theory and Applications (ICAICTA)<\/em>, 2018, pp. 170-175, doi: 10.1109\/ICAICTA.2018.8541349.<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> In this paper, fuzzy supervisor of PID controller for ball balancing on a Stewart platform (ball and plate system) was implemented. Small-size Stewart platform was built and used for demonstrating the application of the controller. HD web camera was the visual sensor for sensing the ball position. After image processing, by using color threshold and object detection, the ball position was a feedback signal of the controller. In ball balancing control problem, the x-direction and y-direction can be decentralized and are separated into two PID control loops. Conventional PID control might give poor performance due to nonlinearity such as friction and error from the visual tracking. Model-based control design is complicated and could be suffered from modeling uncertainties. Fuzzy controller, which is a nonlinear control, is chosen to resolve the problem. By the way, the PID controller can be enhanced by using a fuzzy supervisory system. By using a few human intuitive rules, from ball speed and ball location, control performance can be improved. Each PID controller gains were adjusted by the fuzzy supervisor. The controller generated the pitch and roll references. The reference signals were transformed to six servo motor set-points by using the inverse kinematics of the platform. PID position controllers were used for the six servo motors. The ball position results showed enhancement by the proposed control system.<\/p>\n\n\n\n<p><strong>Published in:\u00a0<\/strong><a href=\"https:\/\/ieeexplore.ieee.org\/xpl\/conhome\/8509818\/proceeding\">2018 5th International Conference on Advanced Informatics: Concept Theory and Applications (ICAICTA)<\/a><\/p>\n\n\n\n<p><strong>Date of Conference:&nbsp;<\/strong>14-17 Aug. 2018<br><strong>Date Added to IEEE&nbsp;<em>Xplore<\/em>:&nbsp;<\/strong>22 November 2018<br><strong>ISBN Information:INSPEC Accession Number:&nbsp;<\/strong>18273910 <strong>DOI:&nbsp;<\/strong><a rel=\"noreferrer noopener\" target=\"_blank\" href=\"https:\/\/doi.org\/10.1109\/ICAICTA.2018.8541349\">10.1109\/ICAICTA.2018.8541349<\/a><br><strong>Publisher:&nbsp;<\/strong>IEEE<strong>Conference Location:&nbsp;<\/strong>Krabi, Thailand<\/p>\n\n\n\n<p>\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e19\u0e35\u0e49\u0e1e\u0e31\u0e12\u0e19\u0e32\u0e40\u0e1e\u0e37\u0e48\u0e2d\u0e01\u0e32\u0e23\u0e17\u0e23\u0e07\u0e15\u0e31\u0e27\u0e1a\u0e19 6 \u0e41\u0e01\u0e19 \u0e42\u0e14\u0e22\u0e43\u0e0a\u0e49\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2d\u0e31\u0e08\u0e09\u0e23\u0e34\u0e22\u0e30\u0e40\u0e1e\u0e34\u0e48\u0e21\u0e1b\u0e23\u0e30\u0e2a\u0e34\u0e17\u0e18\u0e34\u0e20\u0e32\u0e1e\u0e01\u0e32\u0e23\u0e17\u0e33\u0e07\u0e32\u0e19\u0e42\u0e14\u0e22\u0e43\u0e0a\u0e49\u0e01\u0e25\u0e49\u0e2d\u0e07\u0e43\u0e19\u0e01\u0e32\u0e23\u0e08\u0e31\u0e1a\u0e20\u0e32\u0e1e\u0e25\u0e39\u0e01\u0e1a\u0e2d\u0e25\u0e41\u0e25\u0e30\u0e01\u0e32\u0e23\u0e2a\u0e31\u0e48\u0e07\u0e01\u0e32\u0e23\u0e21\u0e2d\u0e40\u0e15\u0e2d\u0e23\u0e4c\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e15\u0e33\u0e41\u0e2b\u0e19\u0e48\u0e07\u0e02\u0e2d\u0e07\u0e25\u0e39\u0e01\u0e1a\u0e2d\u0e25\u0e1a\u0e19 \u0e2a\u0e08\u0e4a\u0e27\u0e15 \u0e41\u0e1e\u0e25\u0e15\u0e1f\u0e2d\u0e23\u0e4c\u0e21<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/gulfthai.com\/?p=1576\">\u0e07\u0e32\u0e19\u0e1b\u0e23\u0e30\u0e0a\u0e38\u0e21\u0e27\u0e34\u0e0a\u0e32\u0e01\u0e32\u0e23 IEEE International Conference ICAICTA 2018<\/a><\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 \u0e15\u0e2d\u0e19\u0e17\u0e35\u0e48 25 - \u0e1c\u0e25\u0e07\u0e32\u0e19\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c steward platform\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/uRWkTk6JK1s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/gulfthai.com\/?p=1576\">\u0e07\u0e32\u0e19\u0e1b\u0e23\u0e30\u0e0a\u0e38\u0e21\u0e27\u0e34\u0e0a\u0e32\u0e01\u0e32\u0e23\u0e19\u0e32\u0e19\u0e32\u0e0a\u0e32\u0e15\u0e34 IEEE ICAICTA 2018<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-video\" data-allowfullscreen=\"true\" data-href=\"https:\/\/www.facebook.com\/watch\/?v=1769250469857532\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>Steward modify version II<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/Dr.Kittipong\/posts\/2153873937987564\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>Redesign Small Steward Platform \u0e43\u0e02\u0e49\u0e42\u0e1b\u0e23\u0e41\u0e01\u0e23\u0e21 LabVIEW \u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2a\u0e19\u0e43\u0e08\u0e40\u0e23\u0e35\u0e22\u0e19 LabVIEW \u0e25\u0e07\u0e17\u0e30\u0e40\u0e1a\u0e35\u0e22\u0e19\u0e44\u0e14\u0e49\u0e17\u0e35\u0e49<a rel=\"noreferrer noopener\" href=\"https:\/\/docs.google.com\/forms\/d\/1ctiNlxRMn0H4OZGj6zl6vVh7Ti3q5qTokdTm522yMn8\/edit?fbclid=IwAR1JhJOTyGOZ7__HtBaWZuIDIhED-mwQqdjTA4xGWd809X5N7VCxkZ7IUXQ#responses\" target=\"_blank\">https:\/\/docs.google.com\/&#8230;\/1ctiNlxRMn0H4OZGj6zl6&#8230;\/edit&#8230;<\/a> \u0e42\u0e14\u0e22\u0e17\u0e35\u0e21\u0e07\u0e32\u0e19\u0e01\u0e25\u0e38\u0e48\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22 RAAS \u0e21.\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c (\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32) <a href=\"https:\/\/www.facebook.com\/hashtag\/raas_ku?__eep__=6&amp;__cft__[0]=AZWkH3XkjS710JPaBL24xM9FPWFYptGZ4rjRw6qBX3JC4lys7tlUYemHwuCkW0V8ve7hX0FByiBi6sJEiFWHjTA6urIZNCYoKLo9QsxWGWorSFSSSiVygixwXzOlUhE1QwPt0LXxRfcIGnpsxIvO-KoWNt4UM8lY_-0GxIU9WfpA_TqfjGd4DJHb4mucBGElZ7g&amp;__tn__=*NK-R\">#RAAS_KU<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/Dr.Kittipong\/posts\/2035371436504482\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/ieeexplore.ieee.org\/document\/8541349\">Ball Balancing on a Stewart Platform using Fuzzy Supervisory PID Visual Servo Control<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u0e17\u0e14\u0e2a\u0e2d\u0e1a\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 steward Platform \u0e17\u0e35\u0e48 Gistda\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/SvMjn-4y1DQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 \u0e15\u0e2d\u0e19\u0e17\u0e35\u0e48 26 - steward platform\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/pgjeusbamwM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/www.facebook.com\/289428061098837\/videos\/558588187919163\">\u0e21\u0e32\u0e0a\u0e48\u0e27\u0e22\u0e2b\u0e49\u0e2d\u0e07\u0e41\u0e25\u0e1b\u0e02\u0e49\u0e32\u0e07\u0e46 \u0e41\u0e01\u0e49\u0e1b\u0e31\u0e0d\u0e2b\u0e32 friction \u0e14\u0e49\u0e27\u0e22 ball joint \u0e41\u0e1a\u0e1a magnetic \u0e43\u0e0a\u0e49\u0e07\u0e32\u0e19\u0e44\u0e14\u0e49<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-video\" data-allowfullscreen=\"true\" data-href=\"https:\/\/www.facebook.com\/289428061098837\/videos\/558588187919163\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/gulfthai.com\/?page_id=1201\">\u0e1c\u0e39\u0e49\u0e0a\u0e48\u0e27\u0e22\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e32\u0e08\u0e32\u0e23\u0e22\u0e4c \u0e14\u0e23.\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32<\/a>&nbsp;\/ K.Yaovaja<br>\u0e2b\u0e31\u0e27\u0e2b\u0e19\u0e49\u0e32<a href=\"https:\/\/gulfthai.com\/?page_id=1493\">\u0e01\u0e25\u0e38\u0e48\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22\u0e27\u0e34\u0e17\u0e22\u0e32\u0e01\u0e32\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34\u0e02\u0e31\u0e49\u0e19\u0e2a\u0e39\u0e07<\/a>&nbsp;\/ RAAS<br>\u0e41\u0e25\u0e30\u0e1c\u0e39\u0e49\u0e23\u0e31\u0e1a\u0e1c\u0e34\u0e14\u0e0a\u0e2d\u0e1a<a href=\"https:\/\/gulfthai.com\/?p=708\">\u0e2b\u0e25\u0e31\u0e01\u0e2a\u0e39\u0e15\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 (\u0e19\u0e32\u0e19\u0e32\u0e0a\u0e32\u0e15\u0e34)\u200b<\/a>&nbsp;\/ RASE<br><a href=\"https:\/\/www.eng.src.ku.ac.th\/\">\u0e04\u0e13\u0e30\u0e27\u0e34\u0e28\u0e27\u0e01\u0e23\u0e23\u0e21\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32 \u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32<\/a>&nbsp;\/ KU Sriracha<\/p>\n","protected":false},"excerpt":{"rendered":"<p>K. Yaovaja, &#8220;Ball Balancing on a Stewart Platform using Fuzzy Supervisory PID Visual Servo Control,&#8221;&nbsp;2018 5th International Conference on Advanced Informatics: Concept Theory and Applications (ICAICTA), 2018, pp. 170-175, doi: 10.1109\/ICAICTA.2018.8541349. Abstract: In this paper, fuzzy supervisor of PID controller for ball balancing on a Stewart platform (ball and plate system) was implemented. Small-size Stewart<br \/><a class=\"read-more\" href=\"https:\/\/gulfthai.com\/?p=4355\">Complete Reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[14,5,12,3],"tags":[],"class_list":["post-4355","post","type-post","status-publish","format-standard","hentry","category-control-embedded-system","category-engineering","category-research-innovation","category-robotics-automation"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4355","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=4355"}],"version-history":[{"count":7,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4355\/revisions"}],"predecessor-version":[{"id":6839,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4355\/revisions\/6839"}],"wp:attachment":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4355"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4355"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4355"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}