Open AccessControl of Eight-Leg Walking Robot Using Fuzzy Technique Based on SimScape Multibody Toolbox
Author(s) -
Ammar A. Aldair,
Auday Al-Mayyahi,
Basil H. Jasim
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/745/1/012015
Subject(s) - robustness (evolution) , control theory (sociology) , robot , fuzzy logic , toolbox , control engineering , controller (irrigation) , fuzzy control system , computer science , particle swarm optimization , multibody system , engineering , simulation , artificial intelligence , control (management) , algorithm , biochemistry , chemistry , biology , physics , quantum mechanics , agronomy , gene , programming language
In this article, a simulation platform is used to design and test the proposed controller and to study the performance of the eight legs walking robot based on SimScape Multibody toolbox. We show that, by using the SimScape Multibody toolbox, the intelligent controller can be designed without needing for the mathematical model of the legged robot. This toolbox is used to simulate and visualize the motion of the legged robot with the proposed controller. The fuzzy technique is used for designing a control system for the walking robot. The particle swarm optimization (PSO) algorithm is used to obtain the optimal parameters of output membership function of the proposed fuzzy controller. The effectiveness and robustness of the designed controller are studied by changing the carried load by the walking robot. The obtained results demonstrate efficiently the validity of the proposed controller for guiding the walking robot when the disturbance is applied.