Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision

Various ideas have presented in designing and developing the bio-inspired robot legged robot. Researchers may confront numerous challenges in designing control architecture of the legged robot, especially in controlling leg position. As the leg and joints number increases, the complexity of the mult...

وصف كامل

محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Wan Mohd Nafis, Wan Lezaini, Addie Irawan, Hashim
التنسيق: Conference or Workshop Item
اللغة:English
English
منشور في: Springer, Singapore 2019
الموضوعات:
الوصول للمادة أونلاين:http://umpir.ump.edu.my/id/eprint/24946/1/34.%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf
http://umpir.ump.edu.my/id/eprint/24946/2/34.1%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf
http://umpir.ump.edu.my/id/eprint/24946/
https://doi.org/10.1007/978-981-13-3708-6_14
https://doi.org/10.1007/978-981-13-3708-6_14
الوسوم: إضافة وسم
لا توجد وسوم, كن أول من يضع وسما على هذه التسجيلة!
id my.ump.umpir.24946
record_format eprints
spelling my.ump.umpir.249462020-09-07T08:33:58Z http://umpir.ump.edu.my/id/eprint/24946/ Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision Wan Mohd Nafis, Wan Lezaini Addie Irawan, Hashim TK Electrical engineering. Electronics Nuclear engineering Various ideas have presented in designing and developing the bio-inspired robot legged robot. Researchers may confront numerous challenges in designing control architecture of the legged robot, especially in controlling leg position. As the leg and joints number increases, the complexity of the multi-limbed system will increase. Thus, robust control is needed. For the case of motion precision in a legged robot, position control is essential to cater fast response of the angular motion during locomotion. Thus, this paper presents a modification on hybrid Proportional Integral with the antiwindup algorithm and Fuzzy Logic Control (PIA-FLC) with an external derivative element named as PIA-FLC-D to improve the speed of controller response for Hexaquad robot leg’s joints. The proposed PIA-FLC-D control is validated on the first leg of Hexaquad robot, and the results were analyzed and compared with the previous PIA-FLC. The results show that the proposed PIA-FLC-D control had enhanced the performance of angular joint precision with fast response and minimal delay in each leg’s joint motion tracking compares to the previous PIA-FLC controller Springer, Singapore 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24946/1/34.%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf pdf en http://umpir.ump.edu.my/id/eprint/24946/2/34.1%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf Wan Mohd Nafis, Wan Lezaini and Addie Irawan, Hashim (2019) Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018, 27-28 September 2018 , Universiti Malaysia Pahang. pp. 161-171., 538. ISBN 978-981-13-3708-6 https://doi.org/10.1007/978-981-13-3708-6_14 https://doi.org/10.1007/978-981-13-3708-6_14
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
description Various ideas have presented in designing and developing the bio-inspired robot legged robot. Researchers may confront numerous challenges in designing control architecture of the legged robot, especially in controlling leg position. As the leg and joints number increases, the complexity of the multi-limbed system will increase. Thus, robust control is needed. For the case of motion precision in a legged robot, position control is essential to cater fast response of the angular motion during locomotion. Thus, this paper presents a modification on hybrid Proportional Integral with the antiwindup algorithm and Fuzzy Logic Control (PIA-FLC) with an external derivative element named as PIA-FLC-D to improve the speed of controller response for Hexaquad robot leg’s joints. The proposed PIA-FLC-D control is validated on the first leg of Hexaquad robot, and the results were analyzed and compared with the previous PIA-FLC. The results show that the proposed PIA-FLC-D control had enhanced the performance of angular joint precision with fast response and minimal delay in each leg’s joint motion tracking compares to the previous PIA-FLC controller
format Conference or Workshop Item
author Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
author_facet Wan Mohd Nafis, Wan Lezaini
Addie Irawan, Hashim
author_sort Wan Mohd Nafis, Wan Lezaini
title Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
title_short Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
title_full Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
title_fullStr Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
title_full_unstemmed Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
title_sort integration of pi-anti-windup and fuzzy logic control with external derivative solution for leg’s robot angular joint precision
publisher Springer, Singapore
publishDate 2019
url http://umpir.ump.edu.my/id/eprint/24946/1/34.%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf
http://umpir.ump.edu.my/id/eprint/24946/2/34.1%20Integration%20of%20PI-Anti-windup%20and%20fuzzy%20logic%20control.pdf
http://umpir.ump.edu.my/id/eprint/24946/
https://doi.org/10.1007/978-981-13-3708-6_14
https://doi.org/10.1007/978-981-13-3708-6_14
_version_ 1822920799650054144
score 13.250246