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Comparative study of a learning fuzzy PID controller and a self-tuning controller.

H B Kazemian
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Abstract

The self-organising fuzzy controller is an extension of the rule-based fuzzy controller with an additional learning capability. The self-organising fuzzy (SOF) is used as a master controller to readjust conventional PID gains at the actuator level during the system operation, copying the experience of a human operator. The application of the self-organising fuzzy PID (SOF-PID) controller to a 2-link non-linear revolute-joint robot-arm is studied using path tracking trajectories at the setpoint. For the purpose of comparison, the same experiments are repeated by using the self-tuning controller subject to the same data supplied at the setpoint. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the specified path closer and smoother than the self-tuning controller.

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BibTeXRIS

H B Kazemian. 2001. Comparative study of a learning fuzzy PID controller and a self-tuning controller.. https://doi.org/10.1016/s0019-0578(00)00056-2

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