Abstract
In this paper, a combination of PID controller and linear quadratic regulator is proposed. A fuzzy switching module is applied to optimally fuse both controllers. A new adaptive version of charged system search algorithm optimizes the membership functions of the fuzzy module. By the time, the algorithm changes itself to find a proper solution faster. To show the efficiency of the designed intelligent controller, the results of a simulated unicycle robot under disturbances are presented.
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Mohammadi Asl, R., Mahdoudi, A., Pourabdollah, E. et al. Combined PID and LQR controller using optimized fuzzy rules. Soft Comput 23, 5143–5155 (2019). https://doi.org/10.1007/s00500-018-3180-3
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DOI: https://doi.org/10.1007/s00500-018-3180-3