Integration of PI-Anti-windup and Fuzzy Logic Control with External Derivative Solution for Leg’s Robot Angular Joint Precision

  • Wan Mohd Nafis Wan LezainiEmail author
  • Addie Irawan
  • Ahmad Nor Kasruddin Nasir
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


Various ideas were proposed in designing and developing the bio-inspired robot legged robot and its control system. Researchers may confront numerous challenges in designing control architecture of the legged robot, especially in controlling leg position. As the leg and joints number increases, the complexity of the multi-limbed system will increase. Thus, robust control is needed. For the case of motion precision in a legged robot, position control is essential to cater fast response of the angular motion during locomotion. Therefore, this paper presents a modification on hybrid Proportional Integral with the antiwindup algorithm and Fuzzy Logic Control (PIA-FLC) with an external derivative element named as PIA-FLC-D to improve the speed of controller response for Hexaquad robot leg’s joints. The proposed PIA-FLC-D control is validated on the first leg of Hexaquad robot, and the results were analyzed and compared with the previous PIA-FLC. The results show that the proposed PIA-FLC-D control had enhanced the performance of angular joint precision with fast response and minimal delay in each leg’s joint motion tracking compares to the previous PIA-FLC controller.


Legged robot Angular precision Anti-windup Fuzzy logic control 



This research and development are supported by the Ministry of Higher Education Malaysia under the Fundamental Research Grant Scheme (FRGS) (Grant No. FRGS/1/2016/TK04/UMP/02/9) and Universiti Malaysia Pahang (UMP) Research Grant (RDU160147).


  1. 1.
    Bekey, G.A.: Autonomous robots: from biological inspiration to implementation and control (intelligent robotics and autonomous agents series). MIT press, Massachusetts, USA (2005)Google Scholar
  2. 2.
    Adewuyi, P.A.: DC motor speed control: a case between PID controller and fuzzy logic controller. Int. J. Multi. Sci. Eng. 4, 36–40 (2013)Google Scholar
  3. 3.
    Winck, R.C., Elton, M., Book, W.J.: A practical interface for coordinated position control of an excavator arm. Autom. Constr. 51, 46–58 (2015)CrossRefGoogle Scholar
  4. 4.
    Luo, B.Y., Li, M.C., Wang, P., Yu, T.Y.: An anti-windup algorithm for PID controller of PMSM SVPWM speed control system. In: Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA 2015). pp. 529–534. Shenzhen, China (2015)Google Scholar
  5. 5.
    Boisclair, J., Richard, P.L., Laliberté, T., Gosselin, C.: Gravity compensation of robotic manipulators using cylindrical halbach arrays. IEEE/ASME Trans. Mechatron. 22(1), 457–464 (2017)CrossRefGoogle Scholar
  6. 6.
    Li, Y., Wang, G., Dong, B., Zhao, B.: Hybrid position–force control for constrained reconfigurable manipulators based on adaptive neural network. Adv. Mech. Eng. 7(9), 1–10 (2015)Google Scholar
  7. 7.
    Hasan, A.T.: Under-actuated robot manipulator positioning control using artificial neural network inversion technique. Adv. Artif. Intell. 2012, 1–6 (2012)CrossRefGoogle Scholar
  8. 8.
    Resceanu, C.F.: Control algorithms for multi-legged robots in fault conditions using fuzzy logic. In: 15th International Conference on System Theory, Control and Computing, pp. 1–5. Sinaia, Romania (2011)Google Scholar
  9. 9.
    Ayas, M.S., Altas, I.H.: Fuzzy logic based adaptive admittance control of a redundantly actuated ankle rehabilitation robot. Control Eng. Pract. 59, 44–54 (2017)CrossRefGoogle Scholar
  10. 10.
    Jun-Qing, C., Xu-Zhi, L., Min, W.: Position control method for a planar Acrobot based on fuzzy control. In: 2015 34th Chinese Control Conference (CCC), pp. 923–927. Hangzhou, China (2015)Google Scholar
  11. 11.
    Lezaini, W., Irawan, A., Razali, A., Adom, A.: Hybrid antiwindup-fuzzy logic control for an underactuated robot leg precision motion. In: 2017 IEEE 3rd International Symposium in Robotics and Manufacturing Automation (IEEE-ROMA2017), pp. 1–6. Kuala Lumpur, Malaysia (2017)Google Scholar
  12. 12.
    Irawan, A., Razali, A.R., Wan Ishak, W.F., Arshad, M.R., Yin, T.Y.: Development of hexaquad robot: modeling and framework. ARPN J. Eng. Appl. Sci. 10, 17506–17513 (2015)Google Scholar
  13. 13.
    Irawan, A., Tumari, M.Z.: Hexa-quad robot with prismatic body configuration and leg-to-arm transformation. Malaysia Patent (2014)Google Scholar
  14. 14.
    Zainol, M.A.F.: Precision control on hexaquad robot’s leg using anti-windup PID control approach. Universiti Malaysia, Pahang, Malaysia (2016)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Wan Mohd Nafis Wan Lezaini
    • 1
    Email author
  • Addie Irawan
    • 1
  • Ahmad Nor Kasruddin Nasir
    • 1
  1. 1.Robotics and Unmanned System (RUS) Group, Faculty of Electrical and Electronics EngineeringUniversiti Malaysia PahangPekanMalaysia

Personalised recommendations