Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot
This paper deals with the Fuzzy-PID control on Nonlinear Wheel Balancing Robot. A simplified T-S Fuzzy-PID scheme that will be based on the signed distance method has been proposed. Simplification process of 'conventional' Fuzzy-PID to 'simplified' Fuzzy-PID scheme through 3D vec...
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International Journals of Engineering and Sciences Publisher
2014
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my.utm.625782017-06-18T06:41:54Z http://eprints.utm.my/id/eprint/62578/ Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot Md. Ayob, Shahrin Shamsudin, Mohamad Amir Mamat, Rosb Nawawi, Sophan Wahyudi TK Electrical engineering. Electronics Nuclear engineering This paper deals with the Fuzzy-PID control on Nonlinear Wheel Balancing Robot. A simplified T-S Fuzzy-PID scheme that will be based on the signed distance method has been proposed. Simplification process of 'conventional' Fuzzy-PID to 'simplified' Fuzzy-PID scheme through 3D vector projection was demonstrated. Without reducing the performance of conventional Fuzzy-PID control, the number of fuzzy rules was greatly reduced, which eventually minimized the computational burden of the processor. Besides, the proposed controller ensures the control energy was within permissible limit and it also eliminates the effects of nonlinearity when the system was only controlled by PID controllers. Finally, the performance of proposed controller is compared to the performance of conservative Fuzzy-PID and PID schemes via simulation. International Journals of Engineering and Sciences Publisher 2014 Article PeerReviewed Md. Ayob, Shahrin and Shamsudin, Mohamad Amir and Mamat, Rosb and Nawawi, Sophan Wahyudi (2014) Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot. International Journal of Mechanical and Mechatronics Engineering, 14 (4). pp. 65-73. ISSN 2227-2771 http://www.ijens.org/Vol_14_I_04/145004-8383-IJMME-IJENS.pdf |
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TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering Md. Ayob, Shahrin Shamsudin, Mohamad Amir Mamat, Rosb Nawawi, Sophan Wahyudi Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| description |
This paper deals with the Fuzzy-PID control on Nonlinear Wheel Balancing Robot. A simplified T-S Fuzzy-PID scheme that will be based on the signed distance method has been proposed. Simplification process of 'conventional' Fuzzy-PID to 'simplified' Fuzzy-PID scheme through 3D vector projection was demonstrated. Without reducing the performance of conventional Fuzzy-PID control, the number of fuzzy rules was greatly reduced, which eventually minimized the computational burden of the processor. Besides, the proposed controller ensures the control energy was within permissible limit and it also eliminates the effects of nonlinearity when the system was only controlled by PID controllers. Finally, the performance of proposed controller is compared to the performance of conservative Fuzzy-PID and PID schemes via simulation. |
| format |
Article |
| author |
Md. Ayob, Shahrin Shamsudin, Mohamad Amir Mamat, Rosb Nawawi, Sophan Wahyudi |
| author_facet |
Md. Ayob, Shahrin Shamsudin, Mohamad Amir Mamat, Rosb Nawawi, Sophan Wahyudi |
| author_sort |
Md. Ayob, Shahrin |
| title |
Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| title_short |
Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| title_full |
Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| title_fullStr |
Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| title_full_unstemmed |
Simplified partial state fuzzy-PID control on nonlinear wheel balancing robot |
| title_sort |
simplified partial state fuzzy-pid control on nonlinear wheel balancing robot |
| publisher |
International Journals of Engineering and Sciences Publisher |
| publishDate |
2014 |
| url |
http://eprints.utm.my/id/eprint/62578/ http://www.ijens.org/Vol_14_I_04/145004-8383-IJMME-IJENS.pdf |
| _version_ |
1643655461506908160 |
| score |
13.251813 |