A Study of Fuzzy-Neural Force Control for a Quadrupedal Walking Machine

1998 ◽  
Vol 120 (1) ◽  
pp. 124-133 ◽  
Author(s):  
Chau-Ren Tsai ◽  
Tsu-Tian Lee
Keyword(s):  
Fuzzy Logic ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
High Efficiency ◽  
Weight Ratio ◽  
Planetary Gear ◽  
Walking Machine ◽  
Foot Force ◽  
Compact Size ◽  
Quadrupedal Walking

In this paper, the inverse kinematics and the foot force distributions of a planetary gear type quadrupedal walking machine are analyzed. This walking machine has four legs and each leg has three-degrees-of-freedom. The whole system has a total of seventeen links. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size, and high payload/weight ratio. A neural network structure fuzzy logic controller is applied to control the foot force distribution of the quadruped walking machine. The performance of this fuzzy logic control algorithm is evaluated. Experimental results show that the fuzzy logic controller is effective in controlling this walking machine.

Fuzzy logic control of a planetary gear type walking machine leg

Robotica ◽  
1997 ◽  
Vol 15 (5) ◽  
pp. 533-546 ◽  
Author(s):  
Chau-Ren Tsai ◽  
Tsu-Tian Lee ◽  
Shin-Min Song
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Control Algorithm ◽  
High Efficiency ◽  
Position Control ◽  
Weight Ratio ◽  
Planetary Gear ◽  
Walking Machine ◽  
Logic Control ◽  
Compact Size

In this paper, the development of a fuzzy logic control algorithm for walking machine leg control is presented. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size and high payload/weight ratio. The inverse kinematics and dynamics of this leg are first analysed. A fuzzy logic control algorithm is then developed and implemented to control this prototype leg. The controller controls the leg using position control when the foot is in the air and force control when the foot is on the ground. This fuzzy logic control algorithm is evaluated in both simulation and experiments. A comparison of the proposed control algorithm with the conventional impedance control is given. Results show that the fuzzy logic controller is effective in controlling the leg machine.

scholarly journals Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller

2018 ◽  
Vol 8 (5) ◽  
pp. 3678
Author(s):  
Afrizal Mayub ◽  
Fahmizal Fahmizal
Keyword(s):  
Fuzzy Logic ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Center Of Pressure ◽  
Bipedal Robots ◽  
Bipedal Robot ◽  
Position Information ◽  
Pressure Feedback ◽  
The Stability ◽  
Foot Pad

This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.<br /><br />

Body Vibrations of a Legged Walking Machine

1992 ◽  
Author(s):  
Xiaochun Gao ◽  
Shin-Min Song
Keyword(s):  
The Body ◽  
Robotic Systems ◽  
Force Distribution ◽  
Walking Machine ◽  
Foot Force ◽  
Robot Hands ◽  
Machine Systems ◽  
External Loads ◽  
Wheeled Vehicles ◽  
Quadrupedal Walking

Abstract Unlike in wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if external loads remain constant. A theory is thus developed to predict the body vibrations of a walking machine during walking. On the other hand, dynamic foot forces under body vibrations can be computed by application of the existing numerical methods. As an example, the body vibrations of a quadrupedal walking chair under different walking conditions are simulated in terms of the developed theory. The results show that the influence of body vibrations on the foot force distribution is essential and, in some cases, the walking chair may lose its stability due to its body vibrations, even though it is identified to be stable in a quasi-static analysis. The developed theory can also be extended to other similar multi-limbed robotic systems, such as multi-fingered robot hands.

Fuzzy Logic Control of the End-Point Vibration in an Experimental Flexible Beam

2004 ◽  
Vol 10 (4) ◽  
pp. 493-506 ◽  
Author(s):  
A. Jnifene ◽  
W Andrews
Keyword(s):  
Fuzzy Logic ◽  
Strain Gage ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Angular Displacement ◽  
Angular Position ◽  
Rule Base ◽  
Flexible Beam ◽  
End Point ◽  
Logic Control

This paper is concerned with the design and implementation of a fuzzy logic controller (FLC) to control the end-point vibration in a single flexible beam mounted on a two-degrees-of-freedom platform. The angular position of the hub and the signal from a strain gage mounted on the beam are used as the two inputs to the FLC. In order to add more damping, the strain gage signal is combined with the hub angular velocity represented by the output of a tachometer attached to the motor shaft. We discuss how to build the rule base for the flexible beam based on the relation between the angular displacement of the hub and the end-point deflection, as well as the effect of different scaling gains on the performance of the FLC. We present several experimental results showing the effectiveness of the FLC in reducing the end-point vibration of the flexible beam.

scholarly journals Dimmable High Power LED Driver Using Fuzzy Logic Controller

2021 ◽  
Vol 5 (2) ◽  
pp. 45
Author(s):  
Rizky Fatur Rochman ◽  
Eka Prasetyono ◽  
Rachma Prilian Eviningsih
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Constant Current ◽  
Led Driver ◽  
Flyback Converter ◽  
Compact Size ◽  
Wide Range ◽  
Driver Circuit ◽  
Converter Topology ◽  
Lighting Loads

The use of lighting loads is one of the crucial matters which increases every year. The increasing use then leads to the development of brighter and longer-lasting sources. In addition, the conventional use of lighting loads today, which only emit light at its maximum intensity, does not allow the consumers to adjust the brightness level as needed. Consequently, this condition may cause energy wastage. The LED lighting system is gaining popularity as it is widely used in a wide range of applications. The advantages of LEDs, such as its compact size and varied lamp colors, replace conventional lighting sources. The linear setting of the driver topology using the flyback converter was aimed to control the LEDs with a constant current in order to adjust the variation of the LED light intensity. The closed-loop driver circuit with flyback converter topology was designed as an LED driver with a given load specification from the LED string. A dimmable feature was included for adjusting the intensity of the light produced by the LEDs. Eventually, the fuzzy logic controller (FLC) method was applied to the integrated change setting to obtain a dynamic response.

scholarly journals Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

2021 ◽  
Author(s):  
Mustefa Jibril
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Control Method ◽  
Fuzzy Controller ◽  
Vertical Plane ◽  
Integrated Design ◽  
Adaptive Fuzzy ◽  
Quadrotor Uav

Accurate and precise trajectory tracking is crucial for a quadrotor to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the Adaptive and Fuzzy logic controller. The Adaptive fuzzy controller is implemented to govern the behavior of two degrees of freedom quadrotor UAV. The proposed controller allows controlling the movement of UAVs to track a given trajectory in a 2D vertical plane. The Fuzzy Logic system provides an automatic adjustment of the Adaptive parameters to reduce tracking errors and improve the quality of the controller. The results showed perfect behavior for the control law to control a quadrotor trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with Fuzzy and Proportional integral derivative (PID) control methods.

scholarly journals Efficiency Maximization of Grid-Connected Tidal Stream Turbine System: A Supervisory Energy-Based Speed Control Approach with Processor in the Loop Experiment

2021 ◽  
Vol 13 (18) ◽  
pp. 10216
Author(s):  
Youcef Belkhier ◽  
Nasim Ullah ◽  
Ahmad Aziz Al Alahmadi
Keyword(s):  
Fuzzy Logic ◽  
Closed Loop ◽  
Fuzzy Logic Controller ◽  
High Efficiency ◽  
Reactive Power ◽  
Control Method ◽  
Speed Control ◽  
Power Converter ◽  
Convergence Criterion ◽  
Dc Voltage

Permanent magnet synchronous generator (PMSG) with a back-to-back power converter is one of the commonly used technologies in tidal power generation schemes. However, the nonlinear dynamics and time-varying parameters of this kind of conversion system make the controller computation a challenging task. In the present paper, a novel intelligent control method based on the passivity concept with a simple structure is proposed. This proposed strategy consists of passivity-based speed control (PBSC) combined with a fuzzy logic method to address the robustness problems faced by conventional control techniques such as proportional-integral (PI) control. The proposed method extracts the maximum power from the tidal energy, compensates for the uncertainty in a damped way where the entire dynamics of the PMSG are considered when designing the control law. The fuzzy logic controller is selected, which makes the proposed strategy intelligent to compute the damping gains to make the closed-loop passive and approximate the unstructured dynamics of the PMSG. Thus, the robustness property of the closed-loop system is considerably increased. The regulation of DC voltage and reactive power to their desired values are the principal objectives of the present work. The proposed method is used to control the machine-side converter (MSC), while a conventional PI method is adopted to control the grid-side converter (GSC). Dynamic simulations show that the DC voltage and reactive power errors are extremely reduced with the proposed strategy; ±0.002 for the DC-link voltage and ±0.000015 in the case of the reactive power. Moreover, the lowest steady-state error and better convergence criterion are shown by the proposed control (0.3 × 10−3 s). Generally, the proposed candidate offers high robustness, fast speed convergence, and high efficiency over the other benchmark nonlinear strategies. Moreover, the proposed controller was also validated in a processor in the loop (PIL) experiment using Texas Instruments (TI) Launchpad.

scholarly journals High Performance of Solar Cooker by Heat Transfer Mode Condition System Using Fuzzy Logic Controller Applications

2018 ◽  
Vol 7 (4.10) ◽  
pp. 278 ◽  
Author(s):  
Bhavani S ◽  
Shanmugan. S ◽  
Selvaraju P
Keyword(s):  
Heat Transfer ◽  
Fuzzy Logic ◽  
Thermal Performance ◽  
System Performance ◽  
High Performance ◽  
Fuzzy Logic Controller ◽  
High Efficiency ◽  
Low Cost ◽  
Heat Transfer Mode ◽  
Transfer Mode

In this work has been made to predict the effect of several parameters on the productivity to a system by expending fuzzy set technique. A solar cooker has been developed low cost and critically high efficiency produce in Vel Tech Multitech Engineering College at Chennai, Tamilnadu, India. Dissects in thermal performance of cooking system have been produced heat transfer follow in fuzzy logic techniques (Low, Medium, and High). The thermal effect of factor should be developed in fuzzy logic for the system. They should have groups of heat transfer produced in fuzzy logic controller for solar cooker system which had been implemented of system performance discussed. It is to study have induced to give the shortly time for the enhancement of the box solar cooker production.  

scholarly journals High Efficiency Photovoltaic System with Fuzzy Logic Controller

2018 ◽  
Vol 21 (2) ◽  
pp. 60
Author(s):  
Branko Blanuša ◽  
Željko Ivanović ◽  
Branko Dokić
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
High Efficiency ◽  
Fuzzy Controller ◽  
Current Mode ◽  
Photovoltaic System ◽  
Maximum Efficiency ◽  
Switching Frequency ◽  
Pv System ◽  
Point Tracking

In this paper is presented high efficiency photovoltaic system (PV) with fuzzy logic controller. This system consists of PV panel, boost DC/DC converter and 24V DC load. Control module is realized with fuzzy controller. This controller has double function and it gives references for duty factor and switching frequency of the converter control signal. In this way the PV system works with applied maximum power point tracking (MPPT) method and switching frequency is changed on the way so the converter works with maximum efficiency in continuous current mode. Functionality of proposed model is tested through computer simulations in Matlab and on laboratory prototype.

Active Vibration Control of Automotive Suspension System using Fuzzy Logic Algorithm

2017 ◽  
Vol 9 (2) ◽  
Author(s):  
A.S Emam
Keyword(s):  
Fuzzy Logic ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Ride Comfort ◽  
Active Vibration Control ◽  
Active Suspension ◽  
Suspension System ◽  
Performance Criteria ◽  
Road Disturbance ◽  
Automotive Suspension

This study details an efficient fuzzy logic controller (FLC) to improve the performance of active automotive suspension system. A comparison between passive and FLC active suspensions is performed. A mathematical model of automotive active suspension has six degrees of freedom and two input forces generated by two separate actuators are solved using Matlab Simulink. In order to evaluate the effectiveness of the proposed controller under random road disturbance, several performance criteria are assessed based on the dynamic response of the half automotive suspension system. Simulation results of the active suspension system based on the fuzzy logic clearly have been provided to illustrate the effectiveness of the FLC under different road conditions and confirmed that fuzzy logic is very effective for enhancing ride comfort and stability of the vehicle.

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