Forkloader Position Control for A Mini Heavy Loaded Vehicle using Fuzzy Logic-Antiwindup Control
Abstract: This paper presents
a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC)
with Antiwindup elements for a forkloader position control of a Mini Heavy
Loaded ForkliftAutonomous Guided Vehicle (MHeLFAGV). The study was carried out
by modeling TSK-FLC as a closeloop control for the each axis of the fork-lift’s
movement. The degree of membership is designed with reference to the system
response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the
rule base is determined and optimized to deal with microcontroller processing
speed. In order to cater for the windup phenomenon, proportional and integrated
antiwindup elements are integrated into the TSKFLC model. This control strategy
consumes less memory and is expected to increase the time response of the
control system. The experiment and analysis is done on the actual forkloader
unit of MHeLFAGV system. The experiment was done on the vertical axis motion
since horizontal motion will have the same characteristic pattern of
implementation and characteristic of tuning. The experiment shows that the proposed
integrated TSK-FLC with antiwindup elements is able to speed up the time
response of the system and eliminate the overshoot as well as oscillation on
the forkloader movement.
Author: Wan Mohd Nafis Wan
Lezaini
Journal Code: jptkomputergg170092
