An intelligent position control of electrohydraulic drive using hybrid fuzzy control structure

2003 ◽  
Author(s):  
E. Deticek
Keyword(s):  
Fuzzy Control ◽  
Position Control ◽  
Control Structure ◽  
Electrohydraulic Drive

scholarly journals Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 745
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cristian Calderon ◽  
Juan Guerra
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Parallel Robot ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
End Effector ◽  
Robot Systems ◽  
Decoupled Control ◽  
The Mathematical Model ◽  
Decoupled Structure

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 2: Modeling Based on Experimental Identification and Autonomous Flight Control Experiments

2003 ◽  
Vol 15 (5) ◽  
pp. 546-554 ◽  
Author(s):  
Kensaku Hazawa ◽  
◽  
Jinok Shin ◽  
Daigo Fujiwara ◽  
Kazuhiro Igarashi ◽  
...  
Keyword(s):  
Flight Control ◽  
Position Control ◽  
Control Structure ◽  
Controller Design ◽  
Autonomous Flight ◽  
Velocity Models ◽  
Single Output ◽  
Hover Control ◽  
Function Models ◽  
And Control

We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Simge Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.

Application of PID Control Based on Repetitive Compensation in Transmission System of Double-Side Blade Grinding Machine

2012 ◽  
Vol 529 ◽  
pp. 339-342
Author(s):  
He Ran Yang ◽  
Lei Zhang ◽  
Zuo Jie Zhang ◽  
Guo Liang Zhao
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Control Structure ◽  
Control Method ◽  
Transmission System ◽  
Good Prospect ◽  
Precision Machine Tools ◽  
Grinding Machine ◽  
Axial Transmission

A control structure of PID control based on repetitive compensation for the X axial transmission system of the double-side blade grinding machine is proposed in this paper. The repetitive control structure is applied into the common PID control method. Then the simulation for the position control of the transmission system is carried out to verify the effectiveness and feasibility of the proposed control algorithm by Simulink. The results show that the control algorithm proposed in this paper has a good prospect in precision machine tools.

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