The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-883
Full Name: Mohamed Hussein
Position: Associate Professor
Age: ON
Sex: Male
Address: Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor
Country: MALAYSIA
Tel: 006075534669
Tel prefix:
Fax: 006075566159
E-mail address: mohamed@fkm.utm.my
Other E-mails: madhussein@hotmail.com
Title of the Paper: Intelligent Hybrid Control of Piezoelectric Actuated Micro Robot
Authors as they appear in the Paper: Y. Sabzehmeidani, M. Hussein, M. Mailah, M.Z. Md Zain, M.R. Abdullah
Email addresses of all the authors: yaser7002@gmail.com,mohamed@fkm.utm.my,musa@fkm.utm.my,zarhamdy@fkm.utm.my,ruslan@fkm.utm.my
Number of paper pages: 8
Abstract: In this paper, a piezoelectric micro robot is modelled and simulated based on hybrid fuzzy-based controller operating in a constrained environment (pipe). A mathematical model that represents the dynamic characteristics of micro robot is first presented. Then, the dynamic response of the robot system subjected to different input excitations is investigated. Different types of controllers are integrated into this system via a proportional-integral-derivative (PID) controller, the sliding mode controller (SMC) and active force control (AFC) method which incorporates a fuzzy logic (FL) algorithm. The primary objective of the scheme is to ensure accurate trajectory tracking control of the micro robot system is achieved. The performance of the control system under different types of disturbances is evaluated through a rigorous simulation study. The obtained results clearly demonstrate an effective trajectory tracking capability of the worm-like micro robot in spite of t!
he negative effects of the external disturbances.
Keywords: Active Force Control, Fuzzy Logic, Micro Robot, Sliding Mode Control, Piezoelectric Actuator
EXTENSION of the file: .pdf
Special (Invited) Session: Intelligent Control and Modelling of a Micro Robot for In-pipe Application
Organizer of the Session: 104-761
How Did you learn about congress: Professor Hishamuddin Jamaluddin <hishamj@fkm.utm.my>, Dr. Intan Zaurah Md Darus <intan@fkm.utm.my>
IP ADDRESS: 118.100.237.61
