A hybrid SOF-PID controller for a MIMO biped robot

Abstract

The application of the hybrid self-organizing fuzzy (SOF) PID controller to a multiinput multioutput nonlinear biped robot is studied in this article. The SOF-PID controller was initially studied by H.B. Kazemian in 1998. Actually, his SOF-PID controller has limits. The supervisory capacity of the SOF-PID controller can adjust only certain kinds of parameters. Here the hybrid SOF-PID controller is introduced to tune some kinds of parameters, and it was tested on a MIMO biped robot. In the experiment, the hybrid SOF-PID controller shows a better performance than the SOF-PID. ？ ISAROB 2006.