Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/21669
Title: Fuzzy logic control of a novel robotic hanger for garment inspection : modeling, simulation and experimental implementation
Authors: Fung, EHK
Wong, YK
Zhang, XZ
Cheng, L
Yuen, CWM
Wong, WK 
Issue Date: 2011
Source: Expert systems with applications, 2011, v. 38, no. 8, p. 9924-9938
Abstract: This paper presents a novel robotic hanger system for the garment inspection of knitting production. This 3-DOF hanger consists of three groups of linkages which can freely move in the 2D plane. In order to thoroughly understand the structure and motion of the robotic hanger so as to facilitate control simulations and experiments, the mathematical dynamic model of the hanger is analyzed and derived by using the Lagrangian energy approach. Since the dynamic model is complex, coupled and nonlinear, the fuzzy tuned PID (FT-PID) algorithm is employed to establish the controller. This FT-PID controller is found to be less susceptible to the sensor noise, the variation of garment material and size. Therefore, it possesses a certain degree of robustness and adaptability. The simulation and experimental results validate the dynamic model and the effectiveness of the FT-PID control method through comparisons with the conventional PID controller.
Keywords: Fuzzy control
Garment inspection
Lagrangian method
Robotic hanger
Publisher: Pergamon Press
Journal: Expert systems with applications 
ISSN: 0957-4174
EISSN: 1873-6793
DOI: 10.1016/j.eswa.2011.02.037
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