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Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach

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Abstract

In this paper, an intelligent system use fuzzy-PD controller based on relation models is developed for a two-wheeled self-balancing robot. Scaling factors of the fuzzy-PD controller are optimized by a Cross-Entropy optimization method. A linear Quadratic Regulator is designed to bring a comparison with the fuzzy-PD controller by control quality parameters. The controllers are ported and run on STM32F4 Discovery Kit based on the real-time operating system. The experimental results indicate that the proposed fuzzy-PD controller runs exactly on embedded system and has desired performance in term of fast response, good balance and stabilize.

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Authors and Affiliations

  1. Department of Control and Informatics, Moscow Power Engineering Institute, Moscow, Russia

    D. N. Anisimov & The Anh Mai

  2. Department of Electronics and Telecommunications, Vinh University, Nghe An, Vietnam

    Thai Son Dang & The Anh Mai

  3. Institute for Mathematical Research, Universiti Putra Malaysia, Selangor, Malaysia

    Santo Banerjee

Authors
  1. D. N. Anisimov
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  2. Thai Son Dang
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  3. Santo Banerjee
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  4. The Anh Mai
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Correspondence to The Anh Mai.

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Anisimov, D.N., Dang, T.S., Banerjee, S. et al. Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach. Eur. Phys. J. Spec. Top. 226, 2393–2406 (2017). https://doi.org/10.1140/epjst/e2017-70069-y

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