Series Fuzzy PID with Anti-windup Controller for Intelligent Vehicle 2020-01-0113
A series fuzzy PID controller is proposed in this paper to address saturation nonlinear problem and control disturbance caused by uncertainty of actuator model. In order to achieve novel dynamic and steady-state performance, the fuzzy controller and PID controller are fused into series, which realizes excellent dynamic performance of fast response and low overshoot like pure fuzzy controller at the initial response stage, and the excellent steady-state performance of stable and no static difference like PID control at the later response stage. The Hurwitz low is employed to configure PID parameters and fourty nine rules are carefully designed for fuzzy controller. Since the input of the actuator could not be infinite, the actuator being saturated for a long time could reduce the stability of system and, even lead to irreversible damage. Moreover, after exiting the saturation state, it is difficult to quickly recover to the fast and stable response state of the original system. Therefore, an anti-windup scope is meticulously developed to limit the system input to a reasonable range under the saturation state, and, in the unsaturated state, the original Fuzzy PID control is restored. In order to keep stability of system, the parameters of anti-windup scope are deployed by stable rule. In order to verify the performance of the algorithm, three test scenarios were designed, and four comparison algorithms were adopted, including no control, pure PID, pure Fuzzy and Fuzzy PID. The experimental results show that the series fuzzy PID controller with anti-windup scope has excellent dynamic and steady performance.