scholarly journals Study on Application of T-S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

2014 ◽  
Vol 2014 ◽  
pp. 1-8
Author(s):  
Xun Zhang ◽  
Xinglin Hu ◽  
Yang Zhao ◽  
Zhaodong Tang
Keyword(s):  
Control Method ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Tracking Error ◽  
Vertical Plane ◽  
Speed Control ◽  
Switching Control ◽  
Current Profile ◽  
Switching Law ◽  
Fuzzy Observer

Considering the inherent strongly nonlinear and coupling performance of autonomous underwater vehicles (AUVs), the speed switching control method for AUV driven by states is presented. By using T-S fuzzy observer to estimate the states of AUV, the speed control strategies in lever plane, vertical plane, and speed kept are established, respectively. Then the adaptive switching law is introduced to switch the speed control strategies designed in real time. In the simulation, acoustic Doppler current profile/side scan sonar (ADCP/SSS) observation case is employed to demonstrate the effectiveness of the proposed method. The results show that the efficiency of AUV was improved, the trajectory tracking error was reduced, and the steady-state ability was enhanced.

scholarly journals Adaptive speed control method for electromagnetic direct drive vehicle robot driver based on fuzzy logic

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1344-1353 ◽  
Author(s):  
Gang Chen ◽  
Weigong Zhang ◽  
Xu Li ◽  
Bing Yu
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Tracking Error ◽  
Speed Control ◽  
System Structure ◽  
Direct Drive ◽  
Test Standards ◽  
Speed Controller ◽  
Fuzzy Neural ◽  
Vehicle Test

To solve the shortcomings of existing control methods for an electromagnetic direct drive vehicle robot driver, including large speed tracking error and large mileage deviation, a new adaptive speed control method for the electromagnetic direct drive vehicle robot driver based on fuzzy logic is proposed in this paper. The electromagnetic direct drive vehicle robot driver adapts an electromagnetic linear motor as its drive mechanism. The control system structure is designed. The coordinated controller for multiple manipulators is presented. Moreover, an adaptive speed controller for the electromagnetic direct drive vehicle robot driver is proposed to achieve the accurate tracking of desired speed. Experiments are conducted using a Ford FOCUS car. Performances of the proposed method, proportional–integral–derivative, and fuzzy neural network are compared and analyzed. Experimental results demonstrate that the proposed control method can accurately track the target speed, and it can inhabit the change of speed caused by interference under different test conditions, and it has small mileage deviation, which can meet the requirements of national vehicle test standards.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

A Novel Tracking Controller for Autonomous Underwater Vehicles with Thruster Fault Accommodation

2015 ◽  
Vol 69 (3) ◽  
pp. 593-612 ◽  
Author(s):  
Bing Sun ◽  
Daqi Zhu ◽  
Simon X. Yang
Keyword(s):  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Solution Space ◽  
Robust Tracking Control ◽  
Fault Accommodation ◽  
Tracking Controller ◽  
Pseudo Inverse

In this paper, for the over-actuated Autonomous Underwater Vehicle (AUV) system, a novel tracking controller with thruster fault accommodation is proposed. Firstly, a cascaded control method is proposed for AUV robust tracking control. Then, we deal with the tracking control problem when one or more thrusters are completely or partly malfunctioning. Different control strategies are used to reallocate the thruster forces. For the cases that thrusters are partly malfunctioning, a weighted pseudo-inverse is firstly used to generate the normalised thruster forces. When the normalised thruster forces are out of maximum limits, the Quantum-behaviour Particle Swarm Optimisation (QPSO) is used for the restricted usage of the faulty thruster and to find the solution of the control reallocation problem within the limits. Compared with the weighted pseudo-inverse method, the QPSO algorithm does not need truncation or scaling to ensure the feasibility of the solution due to its particle search in the feasible solution space. The proposed controller is implemented in order to evaluate its performance in different faulty situations and its efficiency is demonstrated through simulation results.

Heavy-duty truck platooning on hilly terrain highways: Methods for assessment and improvement

2021 ◽  
pp. 095440702110676
Author(s):  
Miles J Droege ◽  
Brady Black ◽  
Shubham Ashta ◽  
John Foster ◽  
Gregory M Shaver ◽  
...  
Keyword(s):  
Control Method ◽  
Control Strategies ◽  
Speed Control ◽  
Vehicle Speed ◽  
Heavy Duty ◽  
Cruise Control ◽  
Hilly Terrain ◽  
Optimal Speed ◽  
Look Ahead ◽  
Shifting Strategy

Platooning heavy-duty trucks is a proven method to reduce fuel consumption on flat ground, but a significant portion of the U.S. highway system covers hilly terrain. The effort described in this paper uses experimentally gathered single truck data from a route with hilly terrain and an experimentally-validated two-truck platoon simulation framework to analyze control methods for effective platooning on hilly terrain. Specifically, this effort investigates two platoon control aspects: (1) the lead truck’s vehicle speed control and (2) the platoon’s transmission shifting algorithm. Three different types of lead truck speed control strategies are analyzed using the validated platoon model. Two are commercially available cruise control strategies – conventional constant set speed cruise control (CCC) and flexible set speed cruise control (FCC). The third lead truck speed control strategy was developed by the authors in this paper. It uses look-ahead grade information for an entire route to create an energy-optimal speed profile for the lead truck which is called long-horizon predictive cruise control (LHPCC). Then, a two-truck platoon transmission shifting strategy that coordinates the shift events – Simultaneous Shifting (SS) – is introduced and compared to a commercially available shifting strategy using the validated platoon model. This shifting strategy demonstrates further improvements in the platoon performance by improving the platoon gap control. A summary of these simulations demonstrates that the performance of the platoon can be improved by three methods: adding speed flexibility to the lead truck speed control method, using look-ahead road grade information to generate energy-optimal speed targets for the lead truck, and coordinating the timing of the transmission shifts for each truck in the platoon.

scholarly journals Kontrol Kecepatan Putaran Permanent Magnet Synchronous Machine (PMSM) Menggunakan PID, FLC Dan ANFIS

2019 ◽  
Vol 4 (1) ◽  
pp. 253
Author(s):  
Mahrus Ali ◽  
Muhlasin Muhlasin
Keyword(s):  
Permanent Magnet ◽  
Pid Controller ◽  
Magnetic Force ◽  
Control Method ◽  
Good Control ◽  
Speed Control ◽  
Permanent Magnet Synchronous Machine ◽  
Voltage Profile ◽  
Current Profile ◽  
Low Torque

Permanent Magnet Syschronous Machine (PMSM) has low torque in a number of specific applications, so a good control model is needed. PMSM uses the principle of faraday experiments by turning a magnet in a coil by utilizing another energy source ... When a magnet moves in a coil or vice versa. Turning the engine will change the magnetic force flux in the coil and penetrate perpendicular to the coil so that there is a potential difference between the ends of the coil. That is due to changes in magnetic flux. To get the best control method, a comparison of several speed control models is needed. In this study comparing PMSM speed control without controller, using PID controller, using FLC controller, and using ANFIS controller. From the simulation results show that the best model on ANFIS controller, which is closest to the Speed reff (300 rpm) is ANFIS obtained the round profile with the smallest undershot of 300,015 rpm at t = 0.0055 seconds and steady state at 300.02 rpm at 0.004 seconds, obtained output current profile best on FLC = 3.39 A, while at ANFIS = 3.38 A, the best torque profile (the smallest overshot) is obtained on the ANFIS controller of 0.28 pu, the best voltage profile (most continuous) on the ANFIS controller is 300.03. The results of this study will be continued with the use of other artificial intelligence.

scholarly journals Dynamic Modeling and Control of a Parallel Mechanism Used in the Propulsion System of a Biomimetic Underwater Vehicle

2021 ◽  
Vol 11 (11) ◽  
pp. 4909
Author(s):  
Juan Antonio Algarín-Pinto ◽  
Luis E. Garza-Castañón ◽  
Adriana Vargas-Martínez ◽  
Luis I. Minchala-Ávila
Keyword(s):  
Dynamic Modeling ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Tracking Error ◽  
Propulsion System ◽  
Parallel Mechanisms ◽  
Motion Generation ◽  
Inverse Dynamic ◽  
Caudal Fin ◽  
Fuzzy Pd

Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied propulsion system is implemented presents thunniform locomotion, and its thrust depends mainly on the oscillation from its caudal fin. This paper describes the kinematic and dynamic modeling of a 3-DOF spherical 3UCU-1S parallel robotic system to which the caudal fin of a BAUV is attached. Lagrange formalism was employed for inverse dynamic modeling, and its derivation is detailed throughout this paper. Additionally, the implementation of control strategies to compute forces required to actuate limbs to change platform’s flapping frequencies was developed. Four controllers: classic PD, a feedforward plus feedback PD, an adaptive Fuzzy-PD, and a feedforward plus Fuzzy-PD were compared in different simulations. Results showed that augmenting oscillating frequencies (from 0.5 to 5 Hz) increased the complexity of the path tracking task, where the classic control strategy (i.e., PD) was not sufficient, reaching percentage errors above 9%. Control strategies using feedforward terms combined with adaptive feedback techniques reduced tracking error below 2% even during the presence of external disturbances.

scholarly journals Fuzzy swarm trajectory tracking control of unmanned aerial vehicle

2020 ◽  
Vol 7 (4) ◽  
pp. 435-447 ◽  
Author(s):  
Boumediene Selma ◽  
Samira Chouraqui ◽  
Hassane Abouaïssa
Keyword(s):  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Control Method ◽  
Tracking Error ◽  
Vertical Plane ◽  
Pso Algorithm ◽  
Trajectory Tracking Control ◽  
Inference System ◽  
Quadrotor Uav

Abstract Accurate and precise trajectory tracking is crucial for unmanned aerial vehicles (UAVs) to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the robust adaptive neuro-fuzzy inference system (ANFIS) and particle swarm optimization (PSO) algorithm. The ANFIS-PSO controller is implemented to govern the behavior of three degrees of freedom quadrotor UAV. The ANFIS controller allows controlling the movement of UAV to track a given trajectory in a 2D vertical plane. The PSO algorithm provides an automatic adjustment of the ANFIS parameters to reduce tracking error and improve the quality of the controller. The results showed perfect behavior for the control law to control a UAV trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with ANFIS and PID control methods.

Modeling and Variable Structure Control of Autonomous Underwater Vehicles with Moving Mass

2011 ◽  
Vol 130-134 ◽  
pp. 1963-1967 ◽  
Author(s):  
E Zhao ◽  
Bao Wei Song
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Moving Mass ◽  
Structure Control ◽  
Moving Mass Control

In order to solve the problem of general fins and rudders being lower at low moving speed, the moving mass technical is applied onto AUV, thus to radically solve the weakness of control method with fin and rudder. The space dynamics model of moving mass control is created for AUV. And based on this, the moving mass control system is designed with the sliding mode variable structure control method so as to ensure system tracking error zero convergence. By controlling the moving mass movement with moving mass control system, the attitude of AVU is previously controlled. And simulation result proves that moving mass control system will control the AUV attitude angle precisely and rapidly.

Infections of bean plant and field soil are linked to region, root rot pathogen, and agro-ecosystem

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
B. Naseri ◽  
M. Gheitury ◽  
M. Veisi
Keyword(s):  
Root Rot ◽  
Multivariate Analyses ◽  
Control Method ◽  
Control Strategies ◽  
Fusarium Species ◽  
Macrophomina Phaseolina ◽  
Soil Variables ◽  
Plant Infection ◽  
Pathogen Prevalence ◽  
Soil Infestation

SummaryUnderstanding pathogen-agrosystem interaction is particularly essential when applying a control method to minimize pathogen prevalence prior to plant infection. To meet this requirement, frequency of major root rot pathogens isolated from bean root and seed, and their soil populations were examined in farmers’ fields. Multivariate analyses evidenced more frequent isolations of Fusarium solani and Rhizoctonia solani from root and seed compared to Macrophomina phaseolina and Fusarium oxysporum. Two Fusarium species had denser soil populations than R. solani and M. phaseolina. More frequent isolations of pathogens were detected in root and seed collected from Abhar and Khodabandeh compared to Kheirabad region. Agronomic and soil variables corresponded less closely to root infections compared to soil infestation and seed infections. Bean market class, herbicide application, and planting depth were linked to root, seed and soil infestations. Such information provides a basis for increased confidence in choosing appropriate control strategies for a pathogen and region in sustainable agriculture.

Improved Oxygen Dissolution Control for Oxygen Activated Sludge

1988 ◽  
Vol 20 (4-5) ◽  
pp. 101-108 ◽  
Author(s):  
R. C. Clifft ◽  
M. T. Garrett
Keyword(s):  
Activated Sludge ◽  
Control Method ◽  
Control Strategies ◽  
Cost Savings ◽  
Utilization Efficiency ◽  
Oxygen Production ◽  
Oxygen Utilization ◽  
Potential Cost ◽  
Oxygen Dissolution ◽  
The City

Now that oxygen production facilities can be controlled to match the requirements of the dissolution system, improved oxygen dissolution control can result in significant cost savings for oxygen activated sludge plants. This paper examines the potential cost savings of the vacuum exhaust control (VEC) strategy for the City of Houston, Texas 69th Street Treatment Complex. The VEC strategy involves operating a closed-tank reactor slightly below atmospheric pressure and using an exhaust apparatus to remove gas from the last stage of the reactor. Computer simulations for one carbonaceous reactor at the 69th Street Complex are presented for the VEC and conventional control strategies. At 80% of design loading the VEC strategy was found to provide an oxygen utilization efficiency of 94.9% as compared to 77.0% for the conventional control method. At design capacity the oxygen utilization efficiency for VEC and conventional control was found to be 92.3% and 79.5%, respectively. Based on the expected turn-down capability of Houston's oxygen production faciilities, the simulations indicate that the VEC strategy will more than double the possible cost savings of the conventional control method.

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