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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Main Authors:	Wan Mohd Nafis, Wan Lezaini, Addie, Irawan
Format:	Conference or Workshop Item
Language:	English English
Published:	Springer, Singapore 2019
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/24946/ http://umpir.ump.edu.my/id/eprint/24946/ http://umpir.ump.edu.my/id/eprint/24946/ 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

id	ump-24946
recordtype	eprints
spelling	ump-249462019-11-01T07:14:46Z 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 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 (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
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Wan Mohd Nafis, Wan Lezaini Addie, Irawan Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision
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
format	Conference or Workshop Item
author	Wan Mohd Nafis, Wan Lezaini Addie, Irawan
author_facet	Wan Mohd Nafis, Wan Lezaini Addie, Irawan
author_sort	Wan Mohd Nafis, Wan Lezaini
title	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_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_sort	integration of pi-anti-windup and fuzzy logic control with external derivative solution for leg’s robot angular joint precision
publisher	Springer, Singapore
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/24946/ http://umpir.ump.edu.my/id/eprint/24946/ http://umpir.ump.edu.my/id/eprint/24946/ 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
first_indexed	2023-09-18T22:38:02Z
last_indexed	2023-09-18T22:38:02Z
_version_	1777416727176413184

Integration of pi-anti-windup and fuzzy logic control With external derivative solution for leg’s robot Angular joint precision

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