https://doi.org/10.1140/epjst/e2017-70069-y
Regular Article
Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach
1 Department of Control and Informatics, Moscow Power Engineering Institute, Moscow, Russia
2 Department of Electronics and Telecommunications, Vinh University, Nghe An, Vietnam
3 Institute for Mathematical Research, Universiti Putra Malaysia, Selangor, Malaysia
a e-mail: theanh@vinhuni.edu.vn
Received: 1 March 2017
Published online: 19 April 2017
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.
© EDP Sciences, Springer-Verlag, 2017
