Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System

In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg m...

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Autores principales:	Ekhlas H. Karam, Ayam M Abbass, Noor S. Abdul-Jaleel
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2018
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/b5356ef9959f4ac58f19d3eeb0657f39
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spelling	oai:doaj.org-article:b5356ef9959f4ac58f19d3eeb0657f392021-12-02T04:44:59ZDesign of Hybrid Neural Fuzzy Controller for Human Robotic Leg System10.22153/kej.2018.08.0071818-11712312-0789https://doaj.org/article/b5356ef9959f4ac58f19d3eeb0657f392018-04-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/123https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg model. This controller consists from SISO fuzzy proportional derivative (FPD) controller with nine rules summing with single node neural integral derivative (NID) controller with nonlinear function. The Matlab simulation results for nonlinear robotic leg model with the suggested controller showed that the efficiency of this controller when compared with the results of the leg model that is controlled by PI+2D, PD+NID, and FPD-ID controllers. Ekhlas H. KaramAyam M AbbassNoor S. Abdul-JaleelAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 14, Iss 1 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ekhlas H. Karam Ayam M Abbass Noor S. Abdul-Jaleel Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
description	In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg model. This controller consists from SISO fuzzy proportional derivative (FPD) controller with nine rules summing with single node neural integral derivative (NID) controller with nonlinear function. The Matlab simulation results for nonlinear robotic leg model with the suggested controller showed that the efficiency of this controller when compared with the results of the leg model that is controlled by PI+2D, PD+NID, and FPD-ID controllers.
format	article
author	Ekhlas H. Karam Ayam M Abbass Noor S. Abdul-Jaleel
author_facet	Ekhlas H. Karam Ayam M Abbass Noor S. Abdul-Jaleel
author_sort	Ekhlas H. Karam
title	Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
title_short	Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
title_full	Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
title_fullStr	Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
title_full_unstemmed	Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System
title_sort	design of hybrid neural fuzzy controller for human robotic leg system
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2018
url	https://doaj.org/article/b5356ef9959f4ac58f19d3eeb0657f39
work_keys_str_mv	AT ekhlashkaram designofhybridneuralfuzzycontrollerforhumanroboticlegsystem AT ayammabbass designofhybridneuralfuzzycontrollerforhumanroboticlegsystem AT noorsabduljaleel designofhybridneuralfuzzycontrollerforhumanroboticlegsystem
_version_	1718401097981231104

Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System

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