NDLI: The self organising fuzzy controller

Content Provider	IEEE Xplore Digital Library
Author	Kazemian, H.B.
Copyright Year	1998
Description	Author affiliation: Ravensbourne Coll. Univ., UK (Kazemian, H.B.)
Abstract	This paper describes the conceptual development of a self-organising fuzzy PID (SOF-PID) controller and applies it to a nonlinear revolute-joint robot-arm. The SOF acts as an intelligent master controller making small changes to the values of the three PID gains during the system operation, without the need to use the knowledge of an experienced human operator. The step input trajectories were applied to the SOF-PID controller at the setpoint. The same experiments were repeated using the conventional self-organising fuzzy (SOF) controller, the PID controller and the self-tuning controller, subject to the same information supplied at the setpoint. The results of the SOF-PID controller were compared with those of the other three controllers. For the step input the SOF-PID controller produced a smaller steady state error and a negligible overshoot compared to the SOF controller, the PID controller and the self-tuning controller.
Starting Page	319
Ending Page	324
File Size	668338
Page Count	6
File Format	PDF
ISBN	078034863X
ISSN	10987584
DOI	10.1109/FUZZY.1998.687505
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Three-term control Control systems Robots Automatic control Humans Tuning PD control Process control Automatic generation control
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Theoretical Computer Science Software

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