Control input constraint handling using GA optimized predictive PID controller

2009 ◽  
Author(s):  
Mohammad H. Moradi ◽  
Hemen Showkati
Keyword(s):  
Pid Controller ◽  
Constraint Handling ◽  
Control Input ◽  
Input Constraint

scholarly journals Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

2017 ◽  
Author(s):  
Zhengru Ren ◽  
Roger Skjetne ◽  
Zhen Gao
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Multiple Shooting ◽  
Control Input ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Overload Protection ◽  
And Control

This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.

scholarly journals Nonlinear Controller for the Set-Point Regulation of a Buck Converter System

Energies ◽  
2021 ◽  
Vol 14 (18) ◽  
pp. 5760
Author(s):  
Eduardo Campos-Mercado ◽  
Edwin Fernando Mendoza-Santos ◽  
Jorge Antonio Torres-Muñoz ◽  
Edwin Román-Hernández ◽  
Víctor Iván Moreno-Oliva ◽  
...  
Keyword(s):  
Embedded System ◽  
Pid Controller ◽  
Variable Parameter ◽  
Input Voltage ◽  
Buck Converter ◽  
Control Input ◽  
Nonlinear Controller ◽  
Integral Control ◽  
Operation Conditions ◽  
Nonlinear Pid Controller

In this paper, we present a nonlinear PID controller based on saturation functions with variable parameters in order to regulate the output voltage of a buck converter in the presence of changes in the input voltage. The main feature of the proposed controller is to bound the control input with a variable parameter to avoid the windup effect generated by the combination of the integral control action and some operation conditions. The main advantages of the proposed nonlinear PID controller are its low computing cost and the simple tuning task to implement the control strategy in an embedded system. The acceptable behavior of the closed-loop system is presented through the simulation and experimental results.

scholarly journals A Tuning Method for PID Controller Using Optimization Subject to Constraints on Derivatives of Control Input

2003 ◽  
Vol 39 (3) ◽  
pp. 259-265
Author(s):  
Keisuke OZAWA ◽  
Yoshiyuki NODA ◽  
Takanori YAMAZAKI ◽  
Kazuyuki KAMIMURA ◽  
Shigeru KUROSU
Keyword(s):  
Pid Controller ◽  
Control Input ◽  
Tuning Method ◽  
Derivatives Of

scholarly journals Inverse Tangent Functional Nonlinear Feedback Control and Its Application to Water Tank Level Control

Processes ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 347 ◽  
Author(s):  
Jian Zhao ◽  
Xianku Zhang
Keyword(s):  
Feedback Control ◽  
Energy Saving ◽  
Energy Efficient ◽  
Pid Controller ◽  
Control Input ◽  
Water Tank ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Tangent Function ◽  
Tank Level

This paper explores the significance and feasibility of addressing a notion that the system error of a nonlinear feedback control can be decorated by an inverse tangent function in order to attain a sound energy-efficient performance. The related mathematical model and relevant evaluation of this concept are further illustrated by demonstrating a case study about the control performance of water tank level. The rationale of robust control and theoretical algorithm of Lyapunov stability theorem are outlined to evaluate the effectiveness of nonlinear feedback with inverse tangent function in terms of improving robustness of PID (Proportional–Integral–Derivative) controller and energy-saving capability. By demonstrating five simulations of different scenarios, it ultimately proves that the modified robust PID controller by inverse tangent function meets the requirement of energy-saving capacity. Comparing with the routine PID control, the mean control input of controlling water tank level can be reduced up to 39.2% by using modified nonlinear feedback controller. This nonlinear feedback PID controller is energy efficient and concise for its convenient use, which is feasible to expand its utility to other applications.

Multiple Sliding Surface Controller for a Quadrotor for Improved Robustness Against Wind Disturbances

2020 ◽  
Author(s):  
Madhavan Sudakar ◽  
Siddharth Sridhar ◽  
Manish Kumar
Keyword(s):  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Wind Disturbance ◽  
Lyapunov Stability Analysis ◽  
Rapid Switching ◽  
Actual Control

Abstract In this paper, we present a controller design for a quadrotor by obtaining the derivative of the actual control input using the concept of multiple sliding surfaces and Lyapunov stability analysis. The conventional sliding mode controller is highly robust. The discontinuous part of the control input suppresses disturbances well. Theoretically, however, this discontinuity causes rapid switching of the control input (chattering) which results in large energy consumption and inefficiency. The proposed control method formulates the derivative of control input (having the discontinuity) which upon integrating provides a smoother control input when compared to the classical sliding mode control. The quadrotor with our proposed controller is subjected to varying wind disturbance scenarios and its performance is bench-marked against a PID controller and a conventional sliding mode controller. A saturation function sat is used instead of the sign for the classical sliding mode controller as well as the the proposed novel controller design in all sections from 4.2. The reasoning behind this is discussed in the results section of the paper.

A Simple Control Strategy for Increasing the Soft Bending Actuator Performance by Using a Pressure Boost

2019 ◽  
Author(s):  
Brian Alphonse Pinto ◽  
Lars Schiller ◽  
Arthur Seibel
Keyword(s):  
Performance Improvement ◽  
Control Strategy ◽  
Pid Control ◽  
Pid Controller ◽  
High Speed ◽  
Initial Pressure ◽  
Control Input ◽  
Source Pressure ◽  
Bending Actuator ◽  
Soft Actuators

Abstract High-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator’s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.

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