| Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm |
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| 引用本文： | 谭冠政,肖宏峰,王越超. Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm[J]. 中南工业大学学报(英文版), 2002, 9(2): 128-133. DOI: 10.1007/s11771-002-0057-4 |
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| 作者姓名： | 谭冠政 肖宏峰 王越超 |
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| 作者单位： | TAN Guan zheng，XIAO Hong feng，WANG Yue chao1.Institute of Robotics，Central South University，Changsha 410083，China; 2.Robotics Laboratory，Chinese Academy of Sciences，Shengyang 110015，China |
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| 基金项目： | FoundationofRoboticsLaboratory，ChineseAcademyofSciences (No.RL 2 0 0 0 0 2 ) |
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| 摘 要： | 1 ＩＮＴＲＯＤＵＣＴＩＯＮＡｌｔｈｏｕｇｈｍａｎｙａｄｖａｎｃｅｄｃｏｎｔｒｏｌｔｈｅｏｒｉｅｓａｎｄｔｅｃｈｎｉｑｕｅｓｈａｖｅｂｅｅｎｄｅｖｅｌｏｐｅｄｉｎｔｈｅｌａｓｔｄｅ ｃａｄｅｓ,ｐｒｏｐｏｒｔｉｏｎａｌ ｉｎｔｅｇｒａｌ ｄｅｒｉｖａｔｉｖｅ (
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| 关 键 词： | PID控制 优化算法 模糊控制 模糊推理 控制精度 |
| 收稿时间： | 2001-06-15 |
Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm |
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| Tan Guan-zheng , Xiao Hong-feng and Wang Yue-chao. Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm[J]. Journal of Central South University of Technology, 2002, 9(2): 128-133. DOI: 10.1007/s11771-002-0057-4 |
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| Authors: | Tan Guan-zheng Xiao Hong-feng Wang Yue-chao |
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| Affiliation: | (1) Institute of Robotics, Central South University, 410083 Changsha, China;(2) Robotics Laboratory, Chinese Academy of Sciences, 110015 Shengyang, China |
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| Abstract: | A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an online fuzzy inference system, and the other is a conventional PID controller. In the fuzzy inference system, three adjustable factors x p, xi, and x d are introduced. Their functions are to further modify and optimize the result of the fuzzy inference so as to make the controller have the optimal control effect on a given object. The optimal values of these adjustable factors are determined based on the ITAE criterion and the Nelder and Mead’s flexible polyhedron search algorithm. This optimal fuzzy PID controller has been used to control the executive motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that this controller is very effective and can be widely used to control different kinds of objects and processes. Foundation item: Foundation of Robotics Laboratory, Chinese Academy of Sciences (No. RL 200002) Biography of the first author: TAN Guan-zheng, Ph.D, professor, born in Oct. 1962, majoring in robotics and automation. |
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| Keywords: | optimal fuzzy inference PID controller adjustable factor flexible polyhedron search algorithm intelligent artificial leg |
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