Comparison between a fuzzy controller and classic controller applied to stabilize a humanoid robotic platform

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dc.contributor.authorLópez, Jorge
dc.contributor.authorPérez, Katherín
dc.contributor.authorRojas, Eyberth
dc.contributor.authorRodríguez, Saith
dc.contributor.authorCalderón, Juan M.
dc.contributor.authorWeitzenfeld, Alfredo
dc.date.accessioned2020-02-03T11:48:39Z
dc.date.available2020-02-03T11:48:39Z
dc.date.issued2014-03-13
dc.description.abstractIn 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.spa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.1109/ICAR.2013.6766542spa
dc.identifier.urihttp://hdl.handle.net/11634/21358
dc.publisher.branchCRAI-USTA Bogotáspa
dc.relation.referencesYussof, H.; Yamano, M.; Nasu, Y.; Mitobe, K. & Ohka, M. Obstacle Avoidance in Groping Locomotion of a Humanoid Robot, International Journal of Advanced Robotic Systems, Volume 2 pp.251-258, Number 3 2005spa
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dc.rightsAtribución-NoComercial-CompartirIgual 2.5 Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/co/
dc.subject.keywordFuzzy controlspa
dc.subject.keywordHumanoid robotspa
dc.subject.keywordPI+D controllerspa
dc.titleComparison between a fuzzy controller and classic controller applied to stabilize a humanoid robotic platformspa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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