Application of self-tuning fuzzy PI+PD controller in joint DC servo motors of a four-leg robot

This paper introduces a self-tuning fuzzy PI+PD algorithm for processing the DC servo system of a four leg robot. The control process is online, of which the fuzzy rules are generated analytically. The inference and defuzzification of this fuzzy control method are based on phase plane and centroid, thus it costs less processing time. Through self-tuning gain and self-optimizing in the control process, the servo system of the robot is robust, and its control performance is also good.