Wan Mohd Nafis, Wan Lezaini and Addie Irawan, Hashim and Sheikh Norhasmadi, Sheikh Ali (2017) Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control. Telkomnika, 15 (2). pp. 739-745. ISSN 1693-6930. (Published)
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Abstract
This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift’s movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, a proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.
| Item Type: | Article |
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| Additional Information: | Indexes in Scopus |
| Uncontrolled Keywords: | Precision control; Fuzzy logic; Antiwindup |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 18 Jul 2017 07:23 |
| Last Modified: | 07 Sep 2020 08:34 |
| URI: | http://umpir.ump.edu.my/id/eprint/18190 |
| Download Statistic: | View Download Statistics |
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