Voltage and current control augmentation of islanded microgrid using multifunction model reference modified adaptive PID controller

2019 ◽  
Vol 113 ◽  
pp. 492-501 ◽  
Author(s):  
Abu Bakar Siddique ◽  
Md. Shahin Munsi ◽  
Subrata K. Sarker ◽  
Sajal K. Das ◽  
Md. Rabiul Islam
Keyword(s):  
Pid Controller ◽  
Current Control ◽  
Model Reference ◽  
Islanded Microgrid

Synthesis Design and Analysis of a Hybrid Controller for Robotic Arms

2016 ◽  
Author(s):  
Dan Zhang ◽  
Bin Wei
Keyword(s):  
Pid Controller ◽  
Adaptive Controller ◽  
Convergence Speed ◽  
Model Reference ◽  
Robotic Arms ◽  
Hybrid Controller ◽  
Comparison Results ◽  
Convergence Performance ◽  
Model Reference Adaptive ◽  
Better Than

In this paper, a hybrid controller for robotic arms is proposed and designed by combining a proportional-integral-derivative controller (PID) and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the model reference adaptive controller and the PID+MRAC hybrid controller for 1-DOF and 2-DOF manipulators are compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+MRAC controllers are better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

Design, analysis and modelling of a hybrid controller for serial robotic manipulators

Robotica ◽  
2016 ◽  
Vol 35 (9) ◽  
pp. 1888-1905 ◽  
Author(s):  
Dan Zhang ◽  
Bin Wei
Keyword(s):  
Pid Controller ◽  
Robotic Manipulators ◽  
Convergence Speed ◽  
Model Reference ◽  
Control Approach ◽  
Hybrid Controller ◽  
Comparison Results ◽  
Convergence Performance ◽  
Model Reference Adaptive ◽  
Better Than

SUMMARYWhen the end-effector of a robotic arm grasps different payload masses, the output of joint motion will vary. By using a model reference adaptive control approach, the payload variation effect can be solved. This paper describes the design for a hybrid controller for serial robotic manipulators by combining a PID controller and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the MRAC and the PID+MRAC hybrid controller for 1-DOF, 2-DOF and subsequently 3-DOF manipulators is compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+ MRAC controllers is better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

LMI-Based Robust PID Controller Design for Voltage Control of Islanded Microgrid

2018 ◽  
Vol 20 (5) ◽  
pp. 2014-2025 ◽  
Author(s):  
Maniza Armin ◽  
Priyo Nath Roy ◽  
Subroto K. Sarkar ◽  
Sajal K. Das
Keyword(s):  
Pid Controller ◽  
Controller Design ◽  
Voltage Control ◽  
Pid Controller Design ◽  
Islanded Microgrid

2-DOF Planar Motion Control System Using Model Reference Adaptive Control (MRAC) Algorithm

2012 ◽  
Author(s):  
Andrew M. Y. Luk ◽  
Eric H. K. Fung ◽  
W. C. Gan
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Motion Control ◽  
Pid Controller ◽  
Model Reference Adaptive Control ◽  
Planar Motion ◽  
Motion Platform ◽  
Motion Control System ◽  
Model Reference ◽  
Model Reference Adaptive

This paper reports the application of Model Reference Adaptive Control (MRAC) to an X-Y planar motion mechanism. A flexure-based 2-DOF planar motion platform is first developed for the wafer probing purpose and a planar Voice Coil Motor (VCM) is used for driving the mechanism and the flexural bearings. The dynamics of the motion platform is governed by a set of differential equations using the mass-spring-damper model and the Kirchhoff’s circuit laws. Due to the non-linearity of the force constant and the coupling effect of the VCM, a MRAC algorithm is proposed to implement on the motion control system so as to improve the system transient response. In order to guarantee the stability of the Model Reference Adaptive System (MRAS), Lyapunov Theory is adopted in the controller design. The control system performance is simulated using MATLAB /SIMULINK with the considerations of the motor non-linearity and the assembly variation of the flexural mechanism. On the other hand, a conventional PID controller is also constructed for control experiments to compare the transient responses between MRAC and PID control systems. Simulation results revealed that the proposed MRAS outperforms the PID controller for the 2 DOF planar motion system in the presence of sensor noise, disturbing force and parameter variation effects.

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