Skip to main content
SpringerLink
Log in

Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm

  • Published:
Journal of Central South University of Technology Aims and scope Submit manuscript

Abstract

A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an online fuzzy inference system, and the other is a conventional PID controller. In the fuzzy inference system, three adjustable factors x p, xi, and x d are introduced. Their functions are to further modify and optimize the result of the fuzzy inference so as to make the controller have the optimal control effect on a given object. The optimal values of these adjustable factors are determined based on the ITAE criterion and the Nelder and Mead’s flexible polyhedron search algorithm. This optimal fuzzy PID controller has been used to control the executive motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that this controller is very effective and can be widely used to control different kinds of objects and processes.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Astrom K, Hagglund T. PID controller: theory, design, and tuning [M]. New York: ISA, 1995.

    Google Scholar 

  2. Tzafestas S G. Fuzzy systems and fuzzy expert control: An overview [J]. Knowledge Engineering Review, 1994, 9(3): 229–268.

    Article  Google Scholar 

  3. Tzafestas S G, Papanikolopoulos N P. Incremental fuzzy expert PID control[J]. IEEE Transactions on Industrial Electronics, 1990, 37(5): 365–371.

    Article  Google Scholar 

  4. He S Z, Tan S H, Xu F L, et al. Fuzzy self-tuning of PID controllers[J]. Fuzzy Sets and Systems, 1993, 56(2): 37–46.

    Article  MathSciNet  Google Scholar 

  5. Zhao Z Y, Tomizuka M, Isaka S. Fuzzy gain scheduling of PID controllers [J]. IEEE Transactions on Systems, Man, and Cybernetics, 1993, 23(5): 1392–1398.

    Article  Google Scholar 

  6. Visioli A. Fuzzy logic based set-point weight turning of PID controller[J]. IEEE Transactions on Systems, Man, and Cybernetics (Part A: Systems and Humans), 1999, 29(6): 587–592.

    Article  Google Scholar 

  7. Himmeibllu D M. Applied nonlinear programming [M]. New York: McGraw-Hill, 1972.

    Google Scholar 

  8. TAN Guan-zheng, CHEN Yong-qi, WAND Yue-chao. Design and analysis of servo control system for intelligent artificial legs based on DSP chip and fuzzy PD control strategy [J]. Journal of Central South University of Technology (in Chinese), 2001, 32(4): 417–421.

    Google Scholar 

  9. TAN Guan-zheng, XIAO Hong-feng, WANG Yue-chao. Design and analysis of digital circuit for walking speed measurement of intelligent artificial legs [J]. Journal of Central South University of Technology (in Chinese), 2001, 32(5): 523–527.

    Google Scholar 

  10. TAN Guan-zneng, WU Li-ming. Advances and development trend of study of artificial legs in foreign countries and China [J]. Robot (in Chinese), 2001, 23(1): 91–96.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Robotics, Central South University, 410083, Changsha, China

    Tan Guan-zheng & Xiao Hong-feng

  2. Robotics Laboratory, Chinese Academy of Sciences, 110015, Shengyang, China

    Wang Yue-chao

Authors
  1. Tan Guan-zheng
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xiao Hong-feng
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Wang Yue-chao
    View author publications

    You can also search for this author in PubMed Google Scholar

Additional information

Foundation item: Foundation of Robotics Laboratory, Chinese Academy of Sciences (No. RL 200002)

Biography of the first author: TAN Guan-zheng, Ph.D, professor, born in Oct. 1962, majoring in robotics and automation.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Tan, Gz., Xiao, Hf. & Wang, Yc. Optimal fuzzy PID controller with adjustable factors based on flexible polyhedron search algorithm. J Cent. South Univ. Technol. 9, 128–133 (2002). https://doi.org/10.1007/s11771-002-0057-4

Download citation

  • Received:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-002-0057-4

Key words

Search

Navigation