Feed-forward frictional-order proportional–integral–derivative-based feedback control of a piezoactuated microposition stage using an extended unparallel Prandtl–Ishlinskii hysteresis compensator

2018 ◽  
Vol 233 (8) ◽  
pp. 2867-2878 ◽  
Author(s):  
Lina Hao ◽  
Jinhai Gao ◽  
Hongpeng Che
Keyword(s):  
Feedback Control ◽  
Degrees Of Freedom ◽  
Resonant Mode ◽  
Feedback Controller ◽  
Proportional Integral Derivative ◽  
Recent Past ◽  
Feed Forward ◽  
Proportional Integral Derivative Controller ◽  
Control Approach ◽  
Proportional Integral

In the recent past, it has been observed that flexure-based microposition stages with a large workspace and high motion precision are gaining popularity for performing practical micromanipulation tasks. Thus, a piezoactuated flexible two-degrees-of-freedom micromanipulator integrated with a pair of displacement amplifiers is developed. To enhance the practical positioning performance of the micromanipulator, this paper proposes a feed-forward frictional-order proportional–integral–derivative based feedback control approach to eliminate the undesired resonant mode of a piezoactuated microposition stage to satisfy the accuracy of the system. The control approach is composed of the integration inverse feed-forward compensator, the feedback controller, and the frictional-order proportional–integral–derivative controller. The integration inverse feed-forward compensator with an extended unparallel Prandtl–Ishlinskii model is introduced for addressing the nonlinearity of the piezoactuated microposition stage, leading to an approximately linear system. When all the roots of the system characteristic equation are negative real numbers or have negative real parts, the feedback controller is guaranteed to have tracking stability. Next, a frictional-order proportional–integral–derivative controller is designed to enhance the tracking performance of the microposition stage. Finally, comparative experiments with the conventional proportional–integral–derivative controller are performed, revealing that the practical positioning performance has been increased by nearly 35%. The experimental results demonstrate that the performance with the frictional-order proportional–integral–derivative+feedback controller is improved significantly.

High order differential feedback controller design and implementation for a Stewart platform

2019 ◽  
Vol 26 (11-12) ◽  
pp. 976-988 ◽  
Author(s):  
Mustafa S Ayas ◽  
Erdinc Sahin ◽  
Ismail H Altas
Keyword(s):  
Trajectory Tracking ◽  
Absolute Error ◽  
Parallel Manipulators ◽  
Stewart Platform ◽  
High Order ◽  
Feedback Controller ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Reference Trajectories

Stewart platform or other parallel manipulators with a Stewart structure are commonly used in flight simulators, surgical operations, medical rehabilitation processes, machine tools, industrial applications, etc. Therefore, researchers have paid attention to position control of these manipulators in addition to their design and development process. In this study, a developed Stewart platform and its inverse kinematic analysis are presented first. Then, a model-free control scheme called a high order differential feedback controller scheme is designed for the Stewart platform in order to improve its trajectory tracking performance and robustness against to different reference trajectories. Real-time trajectory tracking experiments with varied reference trajectories are carried out to show the robustness and effectiveness of the high order differential feedback controller scheme compared to the traditional proportional–integral–derivative controller of which the parameters are optimally tuned. The obtained visual trajectory tracking results and numerical performance results based on error-based performance measurement metrics such as integral of absolute error, integral of squared error, and integral of time-weighted absolute error are provided for both the proposed high order differential feedback controller scheme and the optimal tuned proportional–integral–derivative controller. Experimental results show that the proposed high order differential feedback controller scheme is more robust than the proportional–integral–derivative controller. Furthermore, the high order differential feedback controller scheme has superiority in both transient and steady-state responses and even the parameters of the proportional–integral–derivative controller are optimally tuned.

Identification of roll dynamics of an autonomous underwater vehicle

2018 ◽  
Vol 233 (4) ◽  
pp. 1056-1067 ◽  
Author(s):  
Seid Farhad Abtahi ◽  
Mohammad Mehdi Alishahi ◽  
Ehsan Azadi Yazdi
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Optimal Solution ◽  
Underwater Vehicle ◽  
Hydrodynamic Coefficients ◽  
Proportional Integral Derivative ◽  
Unknown Parameters ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
And Performance

This article aims to identify the roll channel parameters of an autonomous underwater vehicle. These parameters include hydrodynamic coefficients, motor torque, eccentricity, misalignments and mounting imperfections. In the proposed method, an approximation of the hydrodynamic coefficients is made at first via semi-empirical methods. In the next step, a proportional–integral–derivative controller is designed with respect to the approximated coefficients. Since the approximations can be very uncertain, the robustness of stability and performance of the proportional–integral–derivative controller is evaluated throughout µ-analysis. Finally, the unknown parameters are identified using the recorded data of on-board sensors during motion of the vehicle. The identification is based on minimization of the one-step prediction error. The minimization problem is nonlinear in unknown parameters, and particle swarm optimization is used to find an optimal solution. The performance of the proposed method is exhibited through a 6-degrees-of-freedom simulation of an autonomous underwater vehicle.

scholarly journals Design and analysis of a Proportional-Integral-Derivative controller with biological molecules

2018 ◽  
Author(s):  
Michael Chevalier ◽  
Mariana Gómez-Schiavon ◽  
Andrew Ng ◽  
Hana El-Samad
Keyword(s):  
Steady State ◽  
Feedback Control ◽  
Pid Control ◽  
De Novo ◽  
Control Strategies ◽  
Biological Molecules ◽  
Proportional Integral Derivative ◽  
Integral Control ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral

SummaryThe ability of cells to regulate their function through feedback control is a fundamental underpinning of life. The capability to engineer de novo feedback control with biological molecules is ushering in an era of robust functionality for many applications in biotechnology and medicine. To fulfill their potential, feedback control strategies implemented with biological molecules need to be generalizable, modular and operationally predictable. Proportional-Integral-Derivative (PID) control fulfills this role for technological systems and is a commonly used strategy in engineering. Integral feedback control allows a system to return to an invariant steady-state value after step disturbances, hence enabling its robust operation. Proportional and derivative feedback control used with integral control help sculpt the dynamics of the return to steady-state following perturbation. Recently, a biomolecular implementation of integral control was proposed based on an antithetic motif in which two molecules interact stoichiometrically to annihilate each other’s function. In this work, we report how proportional and derivative implementations can be layered on top of this integral architecture to achieve a biochemical PID control design. We illustrate through computational and analytical treatments that the addition of proportional and derivative control improves performance, and discuss practical biomolecular implementations of these control strategies.

PERANCANGAN UJI SIRIP ROKET BAGIAN AILERON DENGAN MENGGUNAKAN KONTROL PID

2018 ◽  
Vol 14 (1) ◽  
pp. 1-11
Author(s):  
Galih Irfan Firdaus
Keyword(s):  
Proportional Integral Derivative ◽  
Accelerometer Sensor ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral

Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.Roket merupakan sebuah peluru kendali atau suatu kendaraan terbang yang mendapatkan dorongan melalui reaksi roket secara cepat dengan bahan fluida dari keluaran mesin roket. Sistem Kendali Sirip Roket berbasis Mikrokontroller ATmega8 berguna untuk mengendalikan sirip roket khususnya bagian aileron.  Dibutuhkan komponen – komponen pendukung berupa Sensor Accelerometer, Sensor Gyroscope, ATmega8 dan Motor Servo. Alat pengendali sirip roket ini dapat digunakan untuk mengendalikan sirip roket bagian aileron pada saat posisi roket tidak stabil atau terjadi gerakan naik turun pada saat setelah diluncurkan, sehingga dapat menghasilkan penerbangan yang maksimal dalam mencapai sasaran.Perancangan yang  digunakan adalah jenis pengendalian dengan kontrol PID. PID (Proportional Integral Derivative controller) merupakan kontroller untuk menentukan presisi suatu sistem instrumentasi dengan karakteristik adanya umpan balik pada sistem tesebut. Pengontrol PID adalah pengontrol konvensional yang banyak dipakai dalam dunia industri. Karakteristik pengontrol PID sangat dipengaruhi oleh kontribusi besar dari ketiga parameter P, I dan D. Pemilihan konstanta Kp, Ki dan Kd akan mengakibatkan penonjolan sifat dari masing-masing elemen. Dalam perancangan sebuah sistem kendali menggunakan kontroller PID pada motor servo yang diharapkan mampu menggerakkan sirip naik dan sirip turun pada roket sehingga mampu menjaga kestabilan roket saat diluncurkan. Prosentase error pada proyek akhir ini adalah 0,5 %.

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