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

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 incre...

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Main Authors:	Wan Mohd Nafis, Wan Lezaini, Addie, Irawan, A. R., Razali, Abdul Hamid, Adom
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE Xplorer 2017
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://umpir.ump.edu.my/id/eprint/18654/ http://umpir.ump.edu.my/id/eprint/18654/ http://umpir.ump.edu.my/id/eprint/18654/1/fkee-2017-addie-Hybrid%20Antiwindup-Fuzzy%20Logic%20Control11.pdf

id	ump-18654
recordtype	eprints
spelling	ump-186542019-06-10T01:55:42Z http://umpir.ump.edu.my/id/eprint/18654/ Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion Wan Mohd Nafis, Wan Lezaini Addie, Irawan A. R., Razali Abdul Hamid, Adom TJ Mechanical engineering and machinery 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. IEEE Xplorer 2017 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18654/1/fkee-2017-addie-Hybrid%20Antiwindup-Fuzzy%20Logic%20Control11.pdf 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 in Robotics and Manufacturing Automation (ROMA 2017), 19-21 September 2017 , Universiti Putra Malaysia, Malaysia. , 2017. https://doi.org/10.1109/ROMA.2017.8231839
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Wan Mohd Nafis, Wan Lezaini Addie, Irawan A. R., Razali Abdul Hamid, Adom Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
description	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.
format	Conference or Workshop Item
author	Wan Mohd Nafis, Wan Lezaini Addie, Irawan A. R., Razali Abdul Hamid, Adom
author_facet	Wan Mohd Nafis, Wan Lezaini Addie, Irawan A. R., Razali Abdul Hamid, Adom
author_sort	Wan Mohd Nafis, Wan Lezaini
title	Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
title_short	Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
title_full	Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
title_fullStr	Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
title_full_unstemmed	Hybrid Antiwindup-Fuzzy Logic Control for an Underactuated Robot Leg Precision Motion
title_sort	hybrid antiwindup-fuzzy logic control for an underactuated robot leg precision motion
publisher	IEEE Xplorer
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/18654/ http://umpir.ump.edu.my/id/eprint/18654/ http://umpir.ump.edu.my/id/eprint/18654/1/fkee-2017-addie-Hybrid%20Antiwindup-Fuzzy%20Logic%20Control11.pdf
first_indexed	2023-09-18T22:26:32Z
last_indexed	2023-09-18T22:26:32Z
_version_	1777416004343693312

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

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