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.
200260_7172 Lotfi Publisher.pdf
Download (387kB) | Preview
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.|
|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:||19 Oct 2015 14:26|
Actions (login required)
Views per month over past year
Downloads per month over past year