Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot
Yixu Wang,Xiaoqing Guan,Tao Hu,Ziang Zhang,You Wang,Zhan Wang,Yifan Liu,Guang Li,Yixu Wang,Xiaoqing Guan,Tao Hu,Ziang Zhang,You Wang,Zhan Wang,Yifan Liu,Guang Li
In this paper, a fuzzy PID controller based on yaw angle prediction is applied to design an attitude controller for a spherical rolling robot. The robot consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transversal and longitudinal axis. The proposed controller allows the robot to autonomously change its parameters to adapt to different environments bas...
