Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances

被引：0
|
作者：
Vukobratovic, Miomir [1 ]
Borovac, Branislav [2 ]
Rakovic, Mirko [2 ]
机构：
[1] Inst Mihajlo Pupin, Volgina 15, Belgrade 11000, Serbia
[2] Univ Novi Sad, Fac Tech Sci, YU-21000 Novi Sad, Serbia
来源：
RESEARCH AND EDUCATION IN ROBOTICS - EUROBOT 2008 | 2009年 / 33卷
关键词：
Humanoid robots; ZMP (Zero Moment Point); dynamic balance; fuzzy control;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
Presence of permanent perturbations during walk requires simultaneous control of dynamic balance preservation and correction of internal synergy to bring it as close as possible to reference one. It is not answered yet in full extent how control for each of these tasks have to be synthesized. In this paper is discussed use of PID and fuzzy control for these purposes. In simulation experiment we applied for dynamic balance preservation only PID controller, but for internal synergy compensation two different controllers (PID and fuzzy) were applied. Obtained results were compared and discussed.
引用
收藏
页码：42 / +
页数：3
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