Novel fuzzy logic controllers with self-tuning capability

Teng, FC, Lotfi, A ORCID: https://orcid.org/0000-0002-5139-6565 and Tsoi, AC, 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
Record created by:	EPrints Services
Date Added:	09 Oct 2015 10:02
Last Modified:	09 Jun 2017 13:17
URI:	https://irep.ntu.ac.uk/id/eprint/6845

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