Title :
Application of self-tuning fuzzy PI+PD controller in joint DC servo motors of a four-leg robot
Author :
Lu, Haoran ; Mei, Tao ; Wang, Rui ; Meng, Max Q H
Author_Institution :
Inst. of Intelligent Machines, Chinese Acad. of Sci., Beijing, China
Abstract :
This paper introduces a self-tuning fuzzy PI+PD algorithm for processing the DC servo system of a four leg robot. The control process is online, of which the fuzzy rules are generated analytically. The inference and defuzzification of this fuzzy control method are based on phase plane and centroid, thus it costs less processing time. Through self-tuning gain and self-optimizing in the control process, the servo system of the robot is robust, and its control performance is also good.
Keywords :
DC motors; PD control; PI control; adaptive control; fuzzy control; mobile robots; position control; self-adjusting systems; servomotors; velocity control; DC servo motors; PD controller; PI controller; four-leg robot; fuzzy rules; phase plane; position control; self-tuning fuzzy control; speed control; Control systems; DC motors; Fuzzy control; Fuzzy systems; Inference algorithms; Leg; Process control; Robots; Servomechanisms; Servomotors;
Conference_Titel :
Information Acquisition, 2004. Proceedings. International Conference on
Print_ISBN :
0-7803-8629-9
DOI :
10.1109/ICIA.2004.1373425
