Novel fuzzy logic controllers with self-tuning capability

TENG, F.C., LOTFI, A. and TSOI, A.C., 2008. Novel fuzzy logic controllers with self-tuning capability. Journal of Computers, 3 (11), pp. 9-16.

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Abstract

Two controllers which extend the PD+I fuzzy logic controller to deal with the plant having time varying nonlinear dynamics are proposed. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is achieved by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second controller (STPD+I_9) is the simplified version of STPD+I_31 which is designed under the imposed constraint that allows only minimum number of rules in the rule bases. The proposed controllers are compared with two classical nonlinear controllers: the pole placement self tuning PID controller and sliding mode controller. All the controllers are applied to the two-links revolute robot for the tracking control. The tracking performance of STPD+I_31 and STPD+I_9 are much better than the pole placement self tuning PID controller during high speed motions while the performance are comparable at low and medium speed. In addition, STPD+I_31 and STPD+I_9 outperform sliding mode controller using same method of comparison study.

Item Type: Journal article
Publication Title: Journal of Computers
Creators: Teng, F.C., Lotfi, A. and Tsoi, A.C.
Publisher: Academy
Date: 2008
Volume: 3
Number: 11
Rights: © 2008. Academy Publisher. Access is limited to non-commercial and personal use.
Divisions: Schools > School of Science and Technology
Depositing User: EPrints Services
Date Added: 09 Oct 2015 10:02
Last Modified: 09 Jun 2017 13:17
URI: http://irep.ntu.ac.uk/id/eprint/6845

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