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Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion

Wan Mohd Nafis, Wan Lezaini and Addie, Irawan 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 on Robotic & Manufacturing Automation , 19-21 September 2017 , Universiti Putra Malaysia, Malaysia. . (Unpublished)

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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)
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: Ir. Dr. Addie Irawan
Date Deposited: 31 Oct 2017 03:40
Last Modified: 18 Apr 2018 01:44
URI: http://umpir.ump.edu.my/id/eprint/18654
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