DocumentCode
2207463
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
fYear
2004
fDate
21-25 June 2004
Firstpage
520
Lastpage
523
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Acquisition, 2004. Proceedings. International Conference on
Print_ISBN
0-7803-8629-9
Type
conf
DOI
10.1109/ICIA.2004.1373425
Filename
1373425
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