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Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs
Tan GZ(谭冠政); Xiao HF(肖宏峰); Wang YC(王越超)
Department机器人学研究室
Source PublicationHigh Technology Letters
ISSN1006-6748
2004
Volume10Issue:2Pages:73-77
Indexed ByEI
EI Accession number2004438424436
Contribution Rank2
Funding OrganizationSupported by the Foundation of the Robotics Laboratory,Chinese Academy of Sciences
KeywordOptimal Zy Pid Controller Adjustable Factors Flexible Polyhedron Search Algorithm Intelligent Artificial Leg
Abstractnew kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference mechanism and another is a conventional PID controller. In the fuzzy inference mecha-nism, three adjustable factors χp, χi, and χd are introduced. Their function is to further modify and op-timize the result of the fuzzy inference to make the controller have the optimal control effect on a given ob-ject. The optimal values of these factors are determined based on the ITAE criterion and the flexible poly-hedron search algorithm of Nelder and Mead. This PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that the design of this controller is very effective and can be widely used to control different kinds of objects and processes.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7387
Collection机器人学研究室
Affiliation1.Institute of Robotics, Central South University
2.Robotics Laboratory, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Tan GZ,Xiao HF,Wang YC. Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs[J]. High Technology Letters,2004,10(2):73-77.
APA Tan GZ,Xiao HF,&Wang YC.(2004).Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs.High Technology Letters,10(2),73-77.
MLA Tan GZ,et al."Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs".High Technology Letters 10.2(2004):73-77.
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