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

作者：Anisimov D N; Thai Son Dang; Banerjee Santo; The Anh Mai^*

来源：The European Physical Journal - Special Topics, 2017, 226(10): 2393-2406.

DOI：10.1140/epjst/e2017-70069-y

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.

• 出版日期2017-7