**9. References**

110 Fuzzy Inference System – Theory and Applications

respectively. In the mean time Table 1 shows a comparison between the two proposed schemes. The enhancement in the response when the pushing force is considered gives us the opportunity to grasp safely objects with higher mass than in the first scheme where Fpush

Ch 4:slip rate(mm/s) – Ch 3: Fapp(gm-force) – Ch1: Vref(V)

Fig. 29. System response when mass is suddenly increased from 550 to 900gm

Table 1.


**6** 

*Malaysia* 

**Fuzzy Logic Controller for** 

**Mechatronics and Automation** 

*2Dept. of Chemical Engineering, University Malaya a* 

Muhammad Mahbubur Rashid1 and Mohamed Azlan Hussain2 *1Dept. of Mechatronics Engineering International Islamic University Malaysia,* 

Conventional car suspensions systems are usually passive, i.e have limitation in suspension control due to their fixed damping force. Semi-active suspension system which is a modification of active and passive suspension system has been found to be more reliable

*Primary suspension* is the term used for suspension components connecting the wheel assemblies of a vehicle to the frame of the vehicle (Fig.1). This is in contrast to the suspension components connecting the frame and body of the vehicle, or those components located directly at the vehicle's seat, commonly called the secondary suspension. Usually a vehicle contains both primary and secondary suspension system but primary suspension is chosen for control. There are two basic types of elements in conventional suspension systems. These elements are springs and dampers. The role of the spring in a vehicle's suspension system is to support the static weight of the vehicle. The role of the damper is to dissipate vibrational energy and control the input from the road that is transmitted to the vehicle. Primary suspensions are divided into passive, active and semi active systems

and robust but yet easier and cheaper than the active suspension system.

[Miller 1990], as will be discussed next, within the context of this study.

**1. Introduction** 

**1.1 Vehicle primary suspensions** 

Fig. 1. Primary suspension system

