Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom robotic arm

Shun Feng Su, Ko Jie Wang, Ming Chang Chen, I. Rudas, Ching Chih Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes a novel method for enhanced fusion adaptive fuzzy control in the two-wheeled balancing six degrees of freedom robotic arm. The two-wheeled mobile robot system and six degrees of freedom robotic arm are integrated into the mobile robot system. Due to the motion of the robot arm, the stability issue becomes more complex. This study employs the adaptive fuzzy control to provide suitable controller for the mobile robot system. In addition, a dynamic learning rate can effectively improve the learning performance. In order to show the superiority of the proposed controller, this paper compares our proposed method with other control methods as proportional-derivative (PD) controller, fuzzy controller, adaptive fuzzy controller, PD fuzzy controller, and adaptive PD controller. The experiment results clearly demonstrate that the proposed control method has much faster convergent speed and is very well performed.

Original languageEnglish
Title of host publicationIEEE International Conference on Automation Science and Engineering
PublisherIEEE Computer Society
Pages1258-1261
Number of pages4
Volume2015-October
ISBN (Print)9781467381833
DOIs
Publication statusPublished - Oct 7 2015
Event11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden
Duration: Aug 24 2015Aug 28 2015

Other

Other11th IEEE International Conference on Automation Science and Engineering, CASE 2015
CountrySweden
CityGothenburg
Period8/24/158/28/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Su, S. F., Wang, K. J., Chen, M. C., Rudas, I., & Tsai, C. C. (2015). Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom robotic arm. In IEEE International Conference on Automation Science and Engineering (Vol. 2015-October, pp. 1258-1261). [7294271] IEEE Computer Society. https://doi.org/10.1109/CoASE.2015.7294271