Wan Mohd Nafis, Wan Lezaini and Addie Irawan, Hashim and A. R., Razali and Abdul Hamid, Adom (2017) Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion. In: 3rd IEEE International Symposium in Robotics and Manufacturing Automation (ROMA 2017) , 19-21 September 2017 , Universiti Putra Malaysia, Malaysia. , 2017.
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Abstract
Nowadays, numerous ideas has been introduced in developing Bio-inspired robot. Legged robot is the best example of bio-inspired robot. One of the challenging areas in developing these type of robot is control architecture, especially in position control. As the number of legs and its joints is increased, the requirements of robust position control become more demanding as legged robot requires coordination so that it can move in the desired pattern while walking. The demands increases when the legs are in underactuated configuration. This paper presents a hybrid Proportional Integral with antiwindup algorithm and Fuzzy Logic Control (PIA-FLC) as joint position control for underactuated robot leg. The PIA-FLC is experimented on the joints of Hexaquad’s leg and is then compared with that using a PIA controller and a FLC controller. The results show that PIA-FLC performs better than the PIA and FLC controllers as the hybrid controller response faster and is able to follow the reference motion with small overshoot and time delay error.
| Item Type: | Conference or Workshop Item (Lecture) |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | Fuzzy Logic Control; antiwindup algorithm; Robot Leg; |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Assoc.Prof Addie Irawan |
| Date Deposited: | 31 Oct 2017 03:40 |
| Last Modified: | 07 Sep 2020 08:34 |
| URI: | http://umpir.ump.edu.my/id/eprint/18654 |
| Download Statistic: | View Download Statistics |
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