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Table 5 Rules of navigation using fuzzy logic

From: PID, BFO-optimized PID, and PD-FLC control of a two-wheeled machine with two-direction handling mechanism: a comparative study

Error Change of error
NB NS Z PS PB
NB NB NB NB NS Z
NS NB NB NS Z PS
Z NB NS Z PS PB
PS NS Z PS PB PB
PB Z PS PB PB PB