Table 6 Gain values for the three control schemes
Output parameter | Gain parameter | PID | BFO-PID | PD-FLC |
|---|---|---|---|---|
Loop 1 | ||||
δ R | Kp 1 | 80 | 10.255 | 7 |
Kd 1 | 75 | 0.016 | 3.5 | |
Ki 1 | 0.05 | 15.05 | 0 | |
Loop 2 | ||||
δ L | Kp 2 | 80 | 10.255 | 7 |
Kd 2 | 75 | 0.016 | 3.5 | |
Ki 2 | 0.05 | 15.05 | 0 | |
Loop 3 | ||||
θ | Kp 3 | 80 | − 1.733 | 7 |
Kd 3 | 9 | − 0.0693 | 1.5 | |
Ki 3 | 0.02 | 0.0835 | 0 | |
Loop 4 | ||||
h 1 | Kp 4 | 8 | 10.3279 | 4.5 |
Kd 4 | 10 | 7.3378 | 6 | |
Ki 4 | 0.01 | 0.013 | 0 | |
Loop 5 | ||||
h 2 | Kp 5 | 27 | 50.1502 | 14 |
Kd 5 | 32 | 30.7237 | 16 | |
Ki 5 | 0.05 | 0.027 | 0 | |