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...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Springer, Singapore
2019
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| Online Access: | 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 |
| _version_ | 1796993376227164160 |
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| 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 |
| collection | UMP |
| 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 |
| first_indexed | 2024-03-06T12:33:03Z |
| format | Conference or Workshop Item |
| id | UMPir24946 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:33:03Z |
| publishDate | 2019 |
| publisher | Springer, Singapore |
| record_format | dspace |
| spelling | UMPir249462020-09-07T08:33:58Z 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 |
| 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 |
| title | 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_short | 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 |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| 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 |
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