Velocity Control of a Spherical Rolling Robot Using a Grey-PID Type Fuzzy Controller with an Adaptive Step Size

This paper proposes a grey-PID type fuzzy controller (GPIDFC) with an adaptive step size to control the velocity of a spherical rolling robot characterized by a highly nonlinear system model. The proposed control structure consists of a grey predictor and a PID type fuzzy controller (PIDFC). Another fuzzy controller is proposed to tune the step size of the grey predictor. The simulation results show that the PIDFC coupled to a grey predictor with an adaptive step size is able to control the spherical rolling robot with a better transient response, e.g. lower overshoot, when compared to a conventional PIDFC.

[1]  Yulin Zhang,et al.  Study of Grey PID Control for Discrete System , 2009, 2009 International Workshop on Intelligent Systems and Applications.

[2]  Liang Lihua,et al.  Variable structure control based on grey prediction for ship fin stabilizer , 2009, 2009 IEEE International Symposium on Industrial Electronics.

[3]  Okyay Kaynak,et al.  A Grey System Modeling Approach for Sliding-Mode Control of Antilock Braking System , 2009, IEEE Transactions on Industrial Electronics.

[4]  Guodong Wang,et al.  Switching grey prediction fuzzy control for electro-hydraulic proportional pressure control system , 2009, 2009 International Conference on Mechatronics and Automation.

[5]  Wouter Saeys,et al.  Modeling and control of a spherical rolling robot: a decoupled dynamics approach , 2011, Robotica.

[6]  Shiuh-Jer Huang,et al.  Control of an inverted pendulum using grey prediction model , 1994, Proceedings of 1994 IEEE Industry Applications Society Annual Meeting.

[7]  J. Deng,et al.  Introduction to Grey system theory , 1989 .

[8]  O. Kaynak,et al.  Grey Prediction Based Control of a Non-Linear Liquid Level System Using PID Type Fuzzy Controller , 2006, 2006 IEEE International Conference on Mechatronics.

[9]  Hang Zhou.  A Adaptive Grey Fuzzy Prediction Controller Design based on the Improving Residual Error Model , 2008 .

[10]  Ruey-Jing Lian,et al.  A grey prediction fuzzy controller for constant cutting force in turning , 2005 .

[11]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[12]  Okyay Kaynak,et al.  An adaptive grey PID-type fuzzy controller design for a non-linear liquid level system , 2009 .