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

• Published in: Telkomnika Vol. 15; no. 2; p. 739
• Main Authors: Mohd Nafis Wan Lezaini, Wan, Irawan, Addie, Norhasmadi Sheikh Ali, Sheikh
• Format: Journal Article
• Language: English
• Published: Yogyakarta Ahmad Dahlan University 01.06.2017
• Subjects: Automation; Control algorithms; Controllers; Design; Experiments; Fuzzy control; Fuzzy logic; International conferences; Load; R&D; Research & development
• ISSN: 1693-6930; 2302-9293; 2302-9293
• DOI: 10.12928/telkomnika.v15i2.6110

The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. [...]the rule base is determined and optimized to deal with microcontroller processing speed. [...]a customized RCV unit, with the capability of pick-and-place 20 - 200kg spool in each rack system, has been developed in their warehouse. Other adaptive PID control, such as Model Pridictive Control with PID [3], Genetic Algorithm and Fire Fly Algorithm with PID [3], Least Squares Suort Vector Machines (LSSVM) identifier PID [4] and NN-based PID [5], also show positive improvement over the classical control implementation, either mathematically or in actual system feasible studies and experiments. [...]anti-windup PID is designed and implemented to control the amount of control output so that it will not go beyond the standard operating range, while maintaining in the saturated zone [1]. Several experiments were conducted on the actual MHeLFAGV Forkloader unit without load, with both session TSK-FLC with and without Antiwindup elements. 2.Overview on MHeLFAGV System and Forklift Configuration The unavailability of a commercial AGV system that can be employed in the targeted confined area and to cope with the heavy loads became the motivation for the development of 50cm compared to that when operating in A-TSK-FLC. The oscillation that occurred during TSK-FLC operation has resulted in longer settling time, compared to that when operating in A-TSK-FLC, might overdrive the Forkloader unit. [...]the overdriven situation not only affects the accuracy for fork-lift component but also pose some risks to the...