Design of hybrid neural fuzzy controller for human robotic leg system
Other Title(s)
تصميم مسيطر هجين من الشبكة العصبية مع المسيطر الضبابي لنظام ساق الإنسان
Joint Authors
Abd al-Jalil, Nur Safa
Abbas, Ayyam Muhsin
Karam, Ikhlas H.
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 14, Issue 1 (31 Mar. 2018), pp.145-155, 11 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2018-03-31
Country of Publication
Iraq
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Karam, Ikhlas H.& Abbas, Ayyam Muhsin& Abd al-Jalil, Nur Safa. 2018. Design of hybrid neural fuzzy controller for human robotic leg system. al-Khwarizmi Engineering Journal،Vol. 14, no. 1, pp.145-155.
https://search.emarefa.net/detail/BIM-835273
Modern Language Association (MLA)
Karam, Ikhlas H.…[et al.]. Design of hybrid neural fuzzy controller for human robotic leg system. al-Khwarizmi Engineering Journal Vol. 14, no. 1 (Mar. 2018), pp.145-155.
https://search.emarefa.net/detail/BIM-835273
American Medical Association (AMA)
Karam, Ikhlas H.& Abbas, Ayyam Muhsin& Abd al-Jalil, Nur Safa. Design of hybrid neural fuzzy controller for human robotic leg system. al-Khwarizmi Engineering Journal. 2018. Vol. 14, no. 1, pp.145-155.
https://search.emarefa.net/detail/BIM-835273
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 154
Record ID
BIM-835273