Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach

  • D. N. Anisimov
  • Thai Son Dang
  • Santo Banerjee
  • The Anh Mai
Regular Article

DOI: 10.1140/epjst/e2017-70069-y

Cite this article as:
Anisimov, D.N., Dang, T.S., Banerjee, S. et al. Eur. Phys. J. Spec. Top. (2017). doi:10.1140/epjst/e2017-70069-y
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Part of the following topical collections:
  1. Aspects of Statistical Mechanics and Dynamical Complexity

Abstract

In this paper, an intelligent system use fuzzy-PD controller based on relation models is developed for a two-wheeled self-balancing robot. Scaling factors of the fuzzy-PD controller are optimized by a Cross-Entropy optimization method. A linear Quadratic Regulator is designed to bring a comparison with the fuzzy-PD controller by control quality parameters. The controllers are ported and run on STM32F4 Discovery Kit based on the real-time operating system. The experimental results indicate that the proposed fuzzy-PD controller runs exactly on embedded system and has desired performance in term of fast response, good balance and stabilize.

Copyright information

© EDP Sciences and Springer 2017

Authors and Affiliations

  • D. N. Anisimov
    • 1
  • Thai Son Dang
    • 2
  • Santo Banerjee
    • 3
  • The Anh Mai
    • 1
    • 2
  1. 1.Department of Control and InformaticsMoscow Power Engineering InstituteMoscowRussia
  2. 2.Department of Electronics and TelecommunicationsVinh UniversityNghe AnVietnam
  3. 3.Institute for Mathematical Research, Universiti Putra MalaysiaSelangorMalaysia

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