scholarly journals Fuzzy gain scheduling control apply to an RC Hovercraft

2020 ◽  
Vol 10 (3) ◽  
pp. 2434
Author(s):  
Huu Khoa Tran ◽  
Pham Duc Lam ◽  
Tran Thanh Trang ◽  
Xuan Tien Nguyen ◽  
Hoang-Nam Nguyen
Keyword(s):  
Controller Design ◽  
Tracking Error ◽  
Operation Time ◽  
Absolute Error ◽  
Gain Scheduling ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Motion Models ◽  
Complex Models ◽  
On Line

The Fuzzy Gain Scheduling (FGS) methodology for tuning the Proportional – Integral – Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional – Integral – Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.

scholarly journals Flight Motion Controller Design using Genetic Algorithm for a Quadcopter

2018 ◽  
Vol 51 (3-4) ◽  
pp. 59-64 ◽  
Author(s):  
Huu Khoa Tran ◽  
Thanh Nam Nguyen
Keyword(s):  
Genetic Algorithm ◽  
Real Time ◽  
Controller Design ◽  
Fitness Function ◽  
Absolute Error ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Time Operation ◽  
Real Time Operation ◽  
Effective Stability

In this study, the Genetic Algorithm operability is assigned to optimize the proportional–integral–derivative controller parameters for both simulation and real-time operation of quadcopter flight motion. The optimized proportional–integral–derivative gains, using Genetic Algorithm to minimum the fitness function via the integral of time multiplied by absolute error criterion, are then integrated to control the quadcopter flight motion. In addition, the proposed controller design is successfully implemented to the experimental real-time flight motion. The performance results are proven that the highly effective stability operation and the reliable of waypoint tracking.

Robust control of interlinking converter using PSO and ABC algorithms

2020 ◽  
Vol 13 ◽  
Author(s):  
Mudita Juneja ◽  
Shyam Krishna Nagar
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Optimization Algorithms ◽  
Tracking Error ◽  
Parameter Tuning ◽  
Pso Algorithm ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Loop Shaping ◽  
Optimal Control Scheme

Objective: In this paper, an optimal control scheme for the Interlinking Converter (IC) system is achieved by the proper regulation of its gate switching functions through appropriate optimal feedback controller design. Methods: Proportional-Integral-Derivative (PID), Fractional Order Proportional-Integral-Derivative (FOPID) and Hinfinity loop shaping controller have been designed for the two-fold control objective of simultaneous improvement in system robustness and reduced tracking error using parameter tuning via Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) optimization algorithms. Results: The controller parameters are obtained by optimization algorithms. The comparative analysis of the controller performance is carried out through simulation in MATLAB platform to validate the effectiveness in the controller design under various changing situations. Conclusion: The optimized controller parameters obtained through ABC algorithm are better than that obtained through PSO algorithm in terms of both objective function values and execution time. The resultant robust control strategy for IC system obtained through H-infinity loop shaping controller provides reduced tracking error and improved stability as compared to PID and FOPID controller, as proved by the simulation results.

Limits of a simplified controller design based on integral plus dead time models

2018 ◽  
Vol 232 (6) ◽  
pp. 728-741 ◽  
Author(s):  
Mikuláš Huba ◽  
Igor Bélai
Keyword(s):  
Dead Time ◽  
Controller Design ◽  
Absolute Error ◽  
Higher Order ◽  
Smith Predictor ◽  
Proportional Integral ◽  
Overall Design ◽  
Error Measures ◽  
Integral Controller ◽  
Proportional Integral Controller

This article presents design and evaluation of filtered proportional–integral controllers and filtered Smith predictor–inspired constrained dead time compensators. Both are based on the integral plus dead time and on the first-order time delayed plant models. They are compared as for tuning simplicity, robustness and noise attenuation. Such a comparison, which presents a robustness test regarding the importance of the internal plant feedback approximation, may be carried out by performance measures built on deviations of the input and output transient responses from their ideal shapes. When combined with integral of absolute error measures of both solution types with the disturbance responses set as nearly equivalent, we can see that the filtered Smith predictor setpoint responses may be significantly faster than the filtered proportional–integral controller responses, more robust and, using higher-order filters, also sufficiently smooth. Furthermore, tuning of the possibly higher-order filters for filtered Smith predictor is simpler. Its overall design is more transparent and straightforward with respect to the control constraints, where the filtered Smith predictor requires some additional anti-windup measures.

scholarly journals PERANCANGAN ALAT PENGGERAK ANTENA MENGGUNAKAN METODE KONTROL PROPORTIONAL, INTEGRAL, DERIVATIVE (PID) UNTUK MELACAK OBJEK BERGERAK

Transmisi ◽  
2018 ◽  
Vol 20 (2) ◽  
pp. 71
Author(s):  
Bagus Bernadi Saputra ◽  
Wahyudi Wahyudi ◽  
Sudjadi Sudjadi
Keyword(s):  
Global Positioning System ◽  
Mean Absolute Error ◽  
Absolute Error ◽  
Base Station ◽  
Ground Control ◽  
Positioning System ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Global Positioning ◽  
Aerial Vehicle

Base station atau Ground Control Station (GCS) umumnya menggunakan antena directional untuk dapat berkomunikasi dengan objek bergerak seperti roket dan Unmanned Aerial Vehicle (UAV). Antena directional memiliki jarak jangkau yang jauh, namun memiliki sudut pancar yang sempit. Untuk mengatasi kekurangan dari antena directional, diperlukan alat yang dapat menggerakkan antena ke arah objek bergerak secara nyata pada kisaran sudut azimut dan elevasi. Pada penelitian ini, dirancang alat penggerak antena menggunakan metode kontrol Proportional, Integral, dan Derivative (PID) untuk melacak objek bergerak berbasis Global Positioning System (GPS) dan sensor barometer. Dari hasil perancangan dengan menggunakan nilai parameter PID yang digunakan pada sudut elevasi (Kp=0,03, Ti=150, dan Td=0,22) menghasilkan plant yang mampu mencapai setpoint (74o) dalam waktu 2 detik. Parameter PID yang digunakan pada sudut azimut (Kp=3,5, Ti=100, dan Td=0,09) menghasilkan plant yang mampu mencapai setpoint (180o) dalam waktu 1,1 detik. Dari hasil pengujian, diketahui antena dapat mengikuti objek bergerak (drone) dengan waktu terlama 1 detik pada plant azimut dan 1,5 detik pada plant elevasi. Plant elevasi memiliki Mean Absolute Error (MAE) = 6,54o dan plant azimut memiliki MAE = 8,04o.

Assessment of Proportional Integral Derivative Control Loops for Large Dominant Time Constant Processes

2019 ◽  
Vol 15 (1) ◽  
Author(s):  
K. Ghousiya Begum ◽  
A. Seshagiri Rao ◽  
T. K. Radhakrishnan
Keyword(s):  
Time Constant ◽  
Closed Loop ◽  
Direct Synthesis ◽  
Absolute Error ◽  
Assessment Method ◽  
Proportional Integral Derivative ◽  
Control Loops ◽  
Proportional Integral ◽  
Proportional Integral Derivative Control ◽  
Integrating Process

Abstract This manuscript deals with the assessment of parallel form of proportional integral derivative (PID) control structure for tracking the reference input designed for large dominant time constant processes whose dynamics are slow (integrating processes). The theoretical bound of integral absolute error (IAE) which is established for unstable first order process is extended to pure integrating process without using any approximations. This relies on direct synthesis tuning (DS) and the theoretical bound is obtained from the transfer function of closed loop system subjected to ramp input changes. An error based performance index is formulated on the basis of this IAE theoretical bound and actual IAE, to measure the behaviour of the controller employed for non self regulating (integrating) processes. This error based index evaluates the performance of closed loop controller and specifies whether the controller requires retuning or not. A sequence of simulated examples is used to illustrate the benefit and effectiveness of this new performance assessment method.

Auto-Tuning Digital Control Based on Parameters Identification and Disturbance Observer

2006 ◽  
Vol 505-507 ◽  
pp. 529-534 ◽  
Author(s):  
Chin Sheng Chen ◽  
Yu Reng Lee
Keyword(s):  
Controller Design ◽  
Tracking Error ◽  
Parameters Identification ◽  
Least Square ◽  
Servo Motor ◽  
Recursive Least Square ◽  
Estimated Parameters ◽  
On Line ◽  
Feedforward Controller ◽  
Auto Tuning

This paper presented a digital servo driver that realizes an auto-tuning feedback and feedforward controller design using on-line parameters identification. Firstly, the variant inertia constant, damping constant and the disturbed load torque of the servo motor are estimated by the recursive least square (RLS) estimator, which is composed of an RLS estimator and a disturbance torque compensator. Furthermore, the auto-tuning algorithm of feedback and feedforward controller is realized according to the estimated parameters to match the tracking specification. The proposed auto-tuning digital servo controllers are evaluated and compared experimentally with a traditional controller on a microcomputer-controlled servo motor positioning system. The experimental results show that this auto-tuning digital servo system remarkably reduces the tracking error.

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