Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

提出了一种新的最优模糊PID控制器，它由两部分组成，即在线模糊推理机构和带有不完全微分的常规PID控制器，在模糊推理机构中，引入了三个可调节因子xp,xi和xd，其作用是进一步修改和优化模糊推理的结果，以使控制器对一个给定对象具有最优的控制效果，可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定，这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机，仿真结果表明该控制器的设计是非常有效的，它可被用于控制各种不同的对象和过程。

<span style="color: rgb(0, 0, 0); font-family: verdana, Arial, Helvetica, sans-serif; font-size: 13px;">A new kind of optimal fuzzy PID controller is proposed, which is composed of an on_line fuzzy inference mechanism and a conventional PID controller with incomplete derivation. In the fuzzy inference mechanism, three adjustable factors x p,x i, and x d are introduced. Their function is to further modify and optimize the result of fuzzy inference so that the controller has the optimal control effect on a given object. The optimal values of these factors are determined based on the ITAE criterion and th...</span>

Foundation of Robotics Laboratory Academia Sinica (RL2 0 0 0 0 2 ) .