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Fuzzy PID controller design using time-delay estimation

Title
Fuzzy PID controller design using time-delay estimation
Authors
Kim, JinwookChang, Pyung-HunJin, Maolin
DGIST Authors
Chang, Pyung-Hun
Issue Date
2017
Citation
Transactions of the Institute of Measurement and Control, 39(9), 1329-1338
Type
Article
Article Type
Article
Keywords
Bioelectric PhenomenaControllersConversion FormulasDiscrete Time DomainElectric Control EquipmentEquivalence RelationshipFuzzy PID ControllerFuzzy Proportional Integral DerivativesFuzzy TDCLinear Control SystemsManipulatorsProportional Control SystemsRobot ApplicationsThree Term Control SystemsTime DelayTime Delay ControllerTime Delay Estimation (TDE)Timing CircuitsTransientsTwo Term Control Systems
ISSN
0142-3312
Abstract
A fuzzy proportional-integral-derivative (PID) controller is designed using time-delay estimation (TDE). In this paper, we show that, in a discrete-time domain, the fuzzy PID controller is a superset of a time-delay controller (TDC). In other words, with certain fuzzy parameter conditions, the discrete fuzzy PID controller is equivalent to the discrete TDC. Tuning the fuzzy PID controller can be started by exploiting the TDC: a simple, efficient and effective controller. The initial fuzzy parameters can be obtained with equivalence relationships between the fuzzy PID controller and the TDC. Furthermore, the performance of the fuzzy PID controller can be enhanced by using the non-linear control surface described by various fuzzy parameters. To this end, a fuzzy TDC is proposed using the TDE and the desired fuzzy error dynamics, and a conversion formula from the fuzzy TDC to the fuzzy PID controller is derived in a discrete-time domain. The effectiveness of the proposed method is verified through experiments on a PUMA-type robot manipulator. © 2017, © The Author(s) 2017.
URI
http://hdl.handle.net/20.500.11750/4432
DOI
10.1177/0142331216634833
Publisher
SAGE Publications Ltd
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles


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