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Fuzzy-tuned PI controller for plate balancing on a mobile vehicle system

TitleFuzzy-tuned PI controller for plate balancing on a mobile vehicle system
Publication TypeConference Proceedings
Year of Publication2560
Authorsยงยุทธ์ พัฒนพงศ์
Conference Name2017 IEEE International Conference on Mechatronics and Automation (ICMA)
Pagination1952-1957
Date PublishedAugust 2017
PublisherIEEE
Conference LocationTakamatsu, Japan
ISBN Number978-1-5090-6759-6
KeywordsDC motors, Fuzzy logic, Mobile communication, Nonlinear dynamical systems, Steady-state, Trajectory, Vehicle dynamics
Abstract

This paper presents a novel implementation of a fuzzy-tuned PI controller for plate balancing on a mobile vehicle platform. The proportional close loop gain and integral time constant are continuously tuned by fuzzy logic algorithm according to vehicle's behavior as it moves along unstructured planar trajectory. The experimental results show a performance comparison to conventional PI controller and prove that the proposed method can achieve better performance than conventional PI controller in terms of faster settling time and smaller steady state error.

URLhttps://ieeexplore.ieee.org/document/8016117
DOI10.1109/ICMA.2017.8016117