Self-Tuning Neuro-PID Controller for Indoor Entertainment Balloon Robot | Zendy

Hiroya Nagata | Zendy; Soichiro Yokoyama | Zendy; Tomohisa Yamashita | Zendy; Hiroyuki Iizuka | Zendy; Masahito Yamamoto | Zendy; Keiji Suzuki | Zendy; Hidenori Kawamura | Zendy

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Self-Tuning Neuro-PID Controller for Indoor Entertainment Balloon Robot

Author(s) -

Hiroya Nagata,

Soichiro Yokoyama,

Tomohisa Yamashita,

Hiroyuki Iizuka,

Masahito Yamamoto,

Keiji Suzuki,

Hidenori Kawamura

Publication year - 2018

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2018.p0390

Subject(s) - pid controller , control theory (sociology) , controller (irrigation) , computer science , trajectory , robot , control engineering , artificial intelligence , control (management) , engineering , temperature control , physics , agronomy , biology , astronomy

Proportional-integral-derivative (PID) controllers are a classical control algorithm that are still widely used owing to their simplicity and accuracy. However, tuning the three parameters is difficult. No methods have been known to determine the exact ideal combination of the P, I, and D gains. Moreover, controlling a system that contains dynamics changes over time using fixed parameters is difficult. A self-tuning neuro-PID controller is applied to a balloon robot for indoor entertainment to enhance its accuracy in following a target trajectory. Our experiment shows the effectiveness of the neuro-PID controller over conventional hand-tuned PID controller.

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