Smart foot based on FBG embedded in CFRP enhanced through fuzzy-PID control

Marcos Dinís Lavarda; Danilo Fernandes Gomes; Talita Paes; Renata Oliveira de Sousa; Uilian José Dreyer; Jean Carlos Cardozo da Silva; Cicero Martelli

doi:10.1117/12.2693009

11 March 2024 Smart foot based on FBG embedded in CFRP enhanced through fuzzy-PID control

Marcos Dinís Lavarda, Danilo Fernandes Gomes, Talita Paes, Renata Oliveira de Sousa, Uilian José Dreyer, Jean Carlos Cardozo da Silva, Cicero Martelli

Author Affiliations +

Proceedings Volume 12893, Photonic Instrumentation Engineering XI; 128930U (2024) https://doi.org/10.1117/12.2693009
Event: SPIE OPTO, 2024, San Francisco, California, United States

Conference Poster

Abstract

This work presents the improvement of the control methodology for a robotic smart foot with optical sensors to proprioception and using a hybrid adaptive controller with fuzzy logic and PID. To do this, the adaptive controller performs analysis in 50ms interactions, indicating the necessary adjustments to the PID controller gains. Therefore, experiments were carried out in various scenarios and the adaptive controller was compared with the conventional PID controller. As a result, the adaptive controller showed an improvement in overall performance when applied in scenarios with different ground inclination angles.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

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Marcos Dinís Lavarda, Danilo Fernandes Gomes, Talita Paes, Renata Oliveira de Sousa, Uilian José Dreyer, Jean Carlos Cardozo da Silva, and Cicero Martelli "Smart foot based on FBG embedded in CFRP enhanced through fuzzy-PID control", Proc. SPIE 12893, Photonic Instrumentation Engineering XI, 128930U (11 March 2024); https://doi.org/10.1117/12.2693009

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