Design of A Self-organizing Fuzzy Plus PD Controller Using the Look-up Tables

Yong No Lee, Tae Won Kim, Hong Suh, Kyong Gi Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

A novel self-organizing fuzzy plus PD control algorithm is proposed, where the proposed controller consists of a typical fuzzy reasoning part and self organizing part in which both on-line and off-line algorithms are employed to modify the Look-Up Table ( LUT ) for the fuzzy control rules and to decide how much fuzzy rules are to be modified after evaluating the control performance, respectively. And the fuzzy controller is replaced by a PD controller in a prespecified region nearby the set point for good settling actions, where PD gain parameters are determined by fuzzy rules based on the magnitude of error velocity at the instant when the output penetrates into the prespecified region. To show the effectiveness of the proposed controller, extensive computer simulation results as well as experimental results are illustrated for an inverted pendulum system.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages775-781
Number of pages7
ISBN (Electronic)0780307372
DOIs
StatePublished - 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 1992 Jul 71992 Jul 10

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/TerritoryUnited States
CityRaleigh
Period92/07/792/07/10

Fingerprint

Dive into the research topics of 'Design of A Self-organizing Fuzzy Plus PD Controller Using the Look-up Tables'. Together they form a unique fingerprint.

Cite this