Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control

This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control...

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Main Authors:	Wan Mohd Nafis, Wan Lezaini, Addie, Irawan, Sheikh Norhasmadi, Sheikh Ali
Format:	Article
Language:	English
Published:	Universitas Ahmad Dahlan 2017
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/1/Forkloader%20Position%20Control%20for%20A%20Mini%20Heavy%20Loaded%20Vehicle%20using%20Fuzzy%20Logic-Antiwindup%20Control.pdf

id	ump-18190
recordtype	eprints
spelling	ump-181902017-10-31T02:37:38Z http://umpir.ump.edu.my/id/eprint/18190/ Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control Wan Mohd Nafis, Wan Lezaini Addie, Irawan Sheikh Norhasmadi, Sheikh Ali TK Electrical engineering. Electronics Nuclear engineering This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift’s movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, a proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement. Universitas Ahmad Dahlan 2017 Article PeerReviewed application/pdf en cc_by_nc_nd http://umpir.ump.edu.my/id/eprint/18190/1/Forkloader%20Position%20Control%20for%20A%20Mini%20Heavy%20Loaded%20Vehicle%20using%20Fuzzy%20Logic-Antiwindup%20Control.pdf Wan Mohd Nafis, Wan Lezaini and Addie, Irawan and Sheikh Norhasmadi, Sheikh Ali (2017) Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control. Telkomnika, 15 (2). pp. 739-745. ISSN 1693-6930 http://www.journal.uad.ac.id/index.php/TELKOMNIKA/article/view/6110/0 DOI: 10.12928/TELKOMNIKA.v15i2.6110
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Wan Mohd Nafis, Wan Lezaini Addie, Irawan Sheikh Norhasmadi, Sheikh Ali Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
description	This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift’s movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, a proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.
format	Article
author	Wan Mohd Nafis, Wan Lezaini Addie, Irawan Sheikh Norhasmadi, Sheikh Ali
author_facet	Wan Mohd Nafis, Wan Lezaini Addie, Irawan Sheikh Norhasmadi, Sheikh Ali
author_sort	Wan Mohd Nafis, Wan Lezaini
title	Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
title_short	Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
title_full	Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
title_fullStr	Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
title_full_unstemmed	Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
title_sort	forkloader position control for a mini heavy loaded vehicle using fuzzy logic-antiwindup control
publisher	Universitas Ahmad Dahlan
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/ http://umpir.ump.edu.my/id/eprint/18190/1/Forkloader%20Position%20Control%20for%20A%20Mini%20Heavy%20Loaded%20Vehicle%20using%20Fuzzy%20Logic-Antiwindup%20Control.pdf
first_indexed	2023-09-18T22:25:37Z
last_indexed	2023-09-18T22:25:37Z
_version_	1777415946517872640

Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control

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