Velocity Control of a Spherical Rolling Robot Using a Grey-PID Type Fuzzy Controller with an Adaptive Step Size.
Erkan KayacanErdal KayacanHerman RamonWouter SaeysPublished in: SyRoCo (2012)
Keyphrases
- fuzzy controller
- step size
- control method
- fuzzy logic controller
- control system
- control strategy
- reference trajectory
- control algorithm
- control scheme
- neural network controller
- fuzzy control
- grey prediction
- tracking error
- fuzzy pid controller
- inverted pendulum
- speed control
- pi controller
- pid control
- control law
- pid controller
- cost function
- convergence rate
- nonlinear systems
- robot manipulators
- trajectory tracking
- obstacle avoidance
- convergence speed
- adaptive control
- temperature control
- mathematical model
- intelligent control
- mobile robot
- fuzzy logic
- matlab simulink
- dc motor
- input output
- controller design
- fuzzy model
- operating conditions
- rule base
- process control
- induction motor
- fuzzy systems
- membership functions
- evolutionary algorithm
- neural network
- proportional integral derivative
- control strategies
- single neuron