Gait Control of A Four-legged Robot with Fuzzy-PID Controller

Author(s):  
Arphakorn Kunha ◽  
Amornphun Phunopas ◽  
Wisanu Jitviriya
2011 ◽  
Vol 383-390 ◽  
pp. 7345-7350
Author(s):  
Zhi Yong Tang ◽  
Hai Xiao Zhong ◽  
Zhong Cai Pei ◽  
Yan Hao Bu

In this paper, we propose a mechanical structure for multi-legged robot. Referring the request of control system, we also made a proper choice on driving means. After dynamics analysis on a single leg of the robot, we make a simulation using ADAMS and get how the torque of each joint is changing when the robot is walking. The model of DC motor is established for the control system. Fuzzy PID controller was used to get real-time response and high accuracy of control system.


Author(s):  
Deepak Kumar Lal ◽  
Ajit Kumar Barisal

Background: Due to the increasing demand for the electrical power and limitations of conventional energy to produce electricity. Methods: Now the Microgrid (MG) system based on alternative energy sources are used to provide electrical energy to fulfill the increasing demand. The power system frequency deviates from its nominal value when the generation differs the load demand. The paper presents, Load Frequency Control (LFC) of a hybrid power structure consisting of a reheat turbine thermal unit, hydropower generation unit and Distributed Generation (DG) resources. Results: The execution of the proposed fractional order Fuzzy proportional-integral-derivative (FO Fuzzy PID) controller is explored by comparing the results with different types of controllers such as PID, fractional order PID (FOPID) and Fuzzy PID controllers. The controller parameters are optimized with a novel application of Grasshopper Optimization Algorithm (GOA). The robustness of the proposed FO Fuzzy PID controller towards different loading, Step Load Perturbations (SLP) and random step change of wind power is tested. Further, the study is extended to an AC microgrid integrated three region thermal power systems. Conclusion: The performed time domain simulations results demonstrate the effectiveness of the proposed FO Fuzzy PID controller and show that it has better performance than that of PID, FOPID and Fuzzy PID controllers. The suggested approach is reached out to the more practical multi-region power system. Thus, the worthiness and adequacy of the proposed technique are verified effectively.


2021 ◽  
pp. 103564
Author(s):  
Wenjie Zeng ◽  
Qingfeng Jiang ◽  
Yinuo Liu ◽  
Shoujun Yan ◽  
Guangchun Zhang ◽  
...  

2014 ◽  
Vol 945-949 ◽  
pp. 2568-2572
Author(s):  
Si Yuan Wang ◽  
Guang Sheng Ren ◽  
Pan Nie

The test rig for hydro-pneumatic converter used in straddle type monorail vehicles was researched, and its electro-pneumatic proportional control system was set up and simulated based on AMESim/Simulink. Compared fuzzy-PID (Proportion Integral Derivative) controller with PID controller through fuzzy logic tool box in Simulink, the results indicate that, this electro-pneumatic proportional control system can meet design requirements better, and fuzzy-PID controller has higher accuracy and stability than PID controller.


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