Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs |
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| Authors: | Tan Guanzheng Xiao Hongfeng Wang Yuechao |
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| Institution: | Institute of Robotics, Central South University, Changsha 410083, P.R.ChinaWang YuechaoRobotics Laboratory, Chinese Academy of Sciences, Shenyang 110015, P.R.China;Institute of Robotics, Central South University, Changsha 410083, P.R.ChinaWang YuechaoRobotics Laboratory, Chinese Academy of Sciences, Shenyang 110015, P.R.China |
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| Abstract: | A new 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 mechanism, three adjustable factors x p, x i, and x d are introduced. Their function is to further modify and optimize the result of the fuzzy inference to make the controller have the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and the flexible polyhedron 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. |
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| Keywords: | optimal fuzzy PID controller adjustable factors flexible polyhedron search algorithm intelligent artificial leg |
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