Intelligent control and modelling of a micro robot for in-pipe application

Y. Sabzehmeidani; M. Mailah; M. Hussein; A. R. Tvakolpour; M. R. Safizadeh

Intelligent control and modelling of a micro robot for in-pipe application

Y. Sabzehmeidani^*
, M. Mailah
, M. Hussein
, A. R. Tvakolpour
, M. R. Safizadeh

^*Corresponding author for this work

Universiti Teknologi Malaysia

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

In this paper, a worm-like micro robot designed for in-pipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportional-integral-derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system's tracking capability in the wake of the disturbances.

Original language	English
Title of host publication	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10
Number of pages	6
Publication date	2010
Pages	176-181
ISBN (Print)	9789604742516
Publication status	Published - 2010
Externally published	Yes
Event	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 - Puerto de la Cruz, Tenerife, Spain Duration: 30. Nov 2010 → 2. Dec 2010

Conference

Conference	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10
Country/Territory	Spain
City	Puerto de la Cruz, Tenerife
Period	30/11/2010 → 02/12/2010

Keywords

Active force control
Fuzzy logic
In-pipe application
Micro robot

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Sabzehmeidani, Y., Mailah, M., Hussein, M., Tvakolpour, A. R., & Safizadeh, M. R. (2010). Intelligent control and modelling of a micro robot for in-pipe application. In European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 (pp. 176-181)

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title = "Intelligent control and modelling of a micro robot for in-pipe application",

abstract = "In this paper, a worm-like micro robot designed for in-pipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportional-integral-derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system's tracking capability in the wake of the disturbances.",

keywords = "Active force control, Fuzzy logic, In-pipe application, Micro robot",

author = "Y. Sabzehmeidani and M. Mailah and M. Hussein and Tvakolpour, \{A. R.\} and Safizadeh, \{M. R.\}",

year = "2010",

language = "English",

isbn = "9789604742516",

pages = "176--181",

booktitle = "European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10",

note = "European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 ; Conference date: 30-11-2010 Through 02-12-2010",

}

Sabzehmeidani, Y, Mailah, M, Hussein, M, Tvakolpour, AR & Safizadeh, MR 2010, Intelligent control and modelling of a micro robot for in-pipe application. in European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10. pp. 176-181, European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10, Puerto de la Cruz, Tenerife, Spain, 30/11/2010.

Intelligent control and modelling of a micro robot for in-pipe application. / Sabzehmeidani, Y.; Mailah, M.; Hussein, M. et al.
European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10. 2010. p. 176-181.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Intelligent control and modelling of a micro robot for in-pipe application

AU - Sabzehmeidani, Y.

AU - Mailah, M.

AU - Hussein, M.

AU - Tvakolpour, A. R.

AU - Safizadeh, M. R.

PY - 2010

Y1 - 2010

N2 - In this paper, a worm-like micro robot designed for in-pipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportional-integral-derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system's tracking capability in the wake of the disturbances.

AB - In this paper, a worm-like micro robot designed for in-pipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportional-integral-derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system's tracking capability in the wake of the disturbances.

KW - Active force control

KW - Fuzzy logic

KW - In-pipe application

KW - Micro robot

UR - https://www.scopus.com/pages/publications/79959880874

M3 - Article in proceedings

AN - SCOPUS:79959880874

SN - 9789604742516

SP - 176

EP - 181

BT - European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10

T2 - European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10

Y2 - 30 November 2010 through 2 December 2010

ER -

Intelligent control and modelling of a micro robot for in-pipe application

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Keywords

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