Comparison between a fuzzy controller and classic controller applied to stabilize a humanoid robotic platform
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Abstract
In this paper, we perform a comparison between
classical PI+D control strategies with a fuzzy modified PI+D
control. The fuzzy PI+D controller is a discrete-time version of
the conventional PI+D controller, which has constant coefficients
of self-tuned control gains. The proposed control strategies were
tested using a mathematical model based on a bipedal platform
robot called DARwIn-OP. A mathematical model was developed
to emulate robot behavior and dynamical performance. It is a
linear model based on non linear conditions. The main
improvement of the fuzzy controller is its adaptive control
capability, mainly error acquisition under disturbance situations.
Computer simulations are shown to demonstrate fuzzy modified
controller improvements over the classic PI+D controller applied
on mathematical robot model.
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Atribución-NoComercial-CompartirIgual 2.5 Colombia