Fuzzy Adaptive PID Control of a Mobile Assistive Robot Platform

Author

Fucheng Cao ; Xianwei Wang ; Xin Li

Author_Institution

Coll. of Electron. Inf. & Eng., Changchun Univ., Changchun, China

fYear

2014

fDate

24-27 Aug. 2014

Firstpage

502

Lastpage

506

Abstract

In the past, assistive robots are used to assist people with physical disabilities through physical interaction and improve the independence and quality of life of persons with disabilities. In this paper, a fuzzy proportional integral derivative controller is proposed which can be tuned by carrying the tuning rules from fuzzy domain. It has been applied and validated in actual mobile assistive system control with significantly improves the control quality. The simulation results show that the performances are better than that of conventional PID controller.

Keywords

adaptive control; assisted living; fuzzy control; handicapped aids; human-robot interaction; medical robotics; mobile robots; three-term control; control quality improvement; control tuning; fuzzy adaptive PID control; fuzzy domain; fuzzy proportional integral derivative controller; mobile assistive robot platform; mobile assistive system control; people with physical disabilities assistance; physical interaction; quality of life improvement; tuning rules; DC motors; Equations; Fuzzy logic; Mathematical model; Mobile communication; Mobile robots; PID; fuzzy logical; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Dependable, Autonomic and Secure Computing (DASC), 2014 IEEE 12th International Conference on

Conference_Location

Dalian

Print_ISBN

978-1-4799-5078-2

Type

conf

DOI

10.1109/DASC.2014.96

Filename

6945741