Associated organisational units
Electronic data
- PID6416689
Rights statement: ©2020 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Accepted author manuscript, 1.64 MB, PDF document
Available under license: CC BY-NC: Creative Commons Attribution-NonCommercial 4.0 International License
- conference_101719
1.63 MB, PDF document
Links
- https://ieeexplore.ieee.org/document/9177557
Final published version
Text available via DOI:
A Novel Self-Organizing PID Approach for Controlling Mobile Robot Locomotion
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Published
| Publication date | 26/08/2020 |
|---|---|
| Host publication | 2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) |
| Publisher | IEEE |
| Pages | 1-10 |
| Number of pages | 10 |
| ISBN (electronic) | 9781728169323 |
| ISBN (print) | 9781728169330 |
| <mark>Original language</mark> | English |
Abstract
A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order autonomous learning multiple model (ALMMo) neuro-fuzzy system. The SOF-PID controller self-organizes and self-updates the structures and meta-parameters of both the control and reference models during the control process "on the fly". This gives the SOF-PID control system the capability of quickly adapting to entirely new operating environments without a full re-training. Moreover, the SOF-PID control system is free from user- and problem-specific parameters and is entirely data-driven. Simulations and real-world experiments with mobile robots demonstrate the effectiveness and validity of the proposed SOF-PID control system.
Bibliographic note
©2020 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.