Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System

Ekhlas H. Karam; Ayam M Abbass; Noor S. Abdul-Jaleel

Article Details

Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System

Authors:

Ekhlas H. Karam | Ayam M Abbass | Noor S. Abdul-Jaleel

Publisher:

University of Baghdad

Journal:

Al-Khwarizmi Engineering Journal Vol.14 Issue 1, pp.145-155

Document Type:

Article

Publication Date:

8/2018

Document Language:

English

Document ID (Org No.):

2001539416

pISSN:

2312-0789

Abstract:

 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.

Article Details

Design of Hybrid Neural Fuzzy Controller for Human Robotic Leg System

Authors: Ekhlas H. Karam | Ayam M Abbass | Noor S. Abdul-Jaleel

Publisher: University of Baghdad

Journal: Al-Khwarizmi Engineering Journal Vol.14 Issue 1, pp.145-155

Document Type: Article

Publication Date: 8/2018

Document Language: English

Document ID (Org No.): 2001539416

pISSN: 2312-0789

Issues

Authors:

Ekhlas H. Karam | Ayam M Abbass | Noor S. Abdul-Jaleel

Publisher:

University of Baghdad

Journal:

Al-Khwarizmi Engineering Journal Vol.14 Issue 1, pp.145-155

Document Type:

Article

Publication Date:

8/2018

Document Language:

English

Document ID (Org No.):

2001539416

pISSN:

2312-0789