Kinematic control of a cable-driven snake-like manipulator for deep-water based on fuzzy PID controller

2021 ◽  
pp. 095965182110647
Author(s):  
Fufeng Xue ◽  
Zhimin Fan
Keyword(s):  
Deep Water ◽  
Control Strategy ◽  
Pid Controller ◽  
Complex Structure ◽  
Tracking Error ◽  
Structure Design ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Confined Spaces ◽  
Manipulator Robot

The traditional deep-water manipulators have several problems to work in confined spaces, such as large volume, complex structure, and inability. To solve these problems, a novel cable-driven snake-like manipulator robot for deep-water is proposed. In this study, the structure design of the cable-driven snake-like manipulator robot is first introduced. Then, we establish the kinematics model of the proposed cable-driven snake-like manipulator robot, which includes three parts: motor-cable kinematics, cable-joint kinematics, and joint-end kinematics. Especially, a tip-following algorithm (Supplemental Material) is presented to fit the confined and complicated underwater scenarios. Furthermore, a kinematics control strategy based on fuzzy PID controller is presented to reduce the tracking error caused by transmission mechanism, and the simulation of the cable-driven snake-like manipulator is carried out based on the MATLAB. The results demonstrate that the tracking error is less than 0.04 mm, which shows the proposed control strategy is effective.

A Novel Robotic Motion Control Strategy Based on Improved Fuzzy PID and Feedforward Compensation

2013 ◽  
Vol 365-366 ◽  
pp. 821-826 ◽  
Author(s):  
Xing Lai Jin ◽  
Shi Qiang Zhu ◽  
Wen Xiang Wu ◽  
Shao Cheng Luo
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Pid Controller ◽  
Dynamic Models ◽  
Tracking Error ◽  
Industrial Robots ◽  
Fuzzy Pid ◽  
Product Strategy ◽  
Fuzzy Pid Controller ◽  
Robotic Motion

Aiming at the difficulties to establish dynamic models of industrial robots, a novel fuzzy PID controller based on product strategy was presented. Membership degrees was determined according to position error and error change. Meanwhile, parameters of the fuzzy-PID controller would be tuned by the varied factors calculated from the membership degrees based on product strategy. Considering disturbance of friction, feedforward based on Stribeck model was introduced. Compared with traditional PID controller, experiment of manipulator demonstrates better effectiveness and robustness of the controller. The new controller keeps tracking error within 0.4%.

Research on Control Strategy for Energy-Saving Optimization Algorithm of the Hydraulic Hybrid Vehicle

2011 ◽  
Vol 201-203 ◽  
pp. 2229-2237 ◽  
Author(s):  
Yan Li Chen ◽  
Shu Nan Liu ◽  
Tao Shang ◽  
Jia Lin Liu ◽  
Yuan Kun Zhang ◽  
...  
Keyword(s):  
Energy Saving ◽  
Optimization Algorithm ◽  
Control Strategy ◽  
Pid Controller ◽  
Hybrid Vehicle ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Fuzzy Pid Controller ◽  
Hydraulic Hybrid ◽  
Hydraulic Hybrid Vehicle

A new structure of hydraulic hybrid vehicle (HHV) with hydraulic transformer (HT) was built and the working principle of the new hydraulic hybrid vehicle was described. According to the operating characteristics of HT and energy-saving optimization conditions of accumulator used the HHV; Energy-saving optimization control algorithm with various operation conditions in different working conditions of vehicle was established. Then, simulation analysis to control performance of energy-saving algorithm was carried out using PID, Fuzzy Logic Controller (FLC) and Fuzzy-PID control strategy. Results show that Fuzzy-PID controller has a small influence on the parameters of energy-saving optimization algorithm of the hydraulic hybrid vehicle and maximizing energy recovery can be achieved in different energy states by Fuzzy-PID controller.

Water Level Control Embedded Fuzzy-PID and Pole-Placement Strategy

2011 ◽  
Vol 464 ◽  
pp. 43-47 ◽  
Author(s):  
Biao Yu ◽  
Hui Zhu
Keyword(s):  
Water Level ◽  
Control Strategy ◽  
Pid Controller ◽  
State Feedback ◽  
Pole Placement ◽  
Fuzzy Pid ◽  
Level Control ◽  
Complex Dynamic ◽  
Boiler Water ◽  
Fuzzy Pid Controller

Since boiler water level system is a complex dynamic system, it is difficult to obtain satisfactory control performances by using the traditional PID controller whose parameters are constant. Therefore, an intelligent fuzzy-PID controller, which can adjust the three parameters of PID in terms of the level error and the rate of lever error, is proposed. On the other hand, if knowing the relation between the closed-loop poles and the system performance, we can achieve the desired control characteristics with pole-placement approach. So, a new control strategy combined with PID controller, fuzzy logic and pole-placement design through state feedback is further proposed. The simulation results show that this control strategy has much better performances than is obtained with traditional controllers.

Study on Control of Brushless DC Motor for Electric Vehicle

2011 ◽  
Vol 305 ◽  
pp. 173-176
Author(s):  
Jian Bo Cao ◽  
Ming Qiang Mao ◽  
Wan Lu Xu ◽  
Jia Ji ◽  
Jia Jiang ◽  
...  
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Tracking Error ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Brushless Dc ◽  
Fuzzy Pid Controller ◽  
State Tracking

To deal with the control problem of brushless DC motor (BLDCM), based on analyzing the work principle of BLDCM, the fuzzy-PID control was studied, and the fuzzy-PID controller of BLDCM was designed. The experimental results show that the fuzzy-PID controller is superior to the PID controller at steady-state tracking error. Additionally, the current and torque undulation of BLDCM were also improved.

Grasshopper Algorithm Optimized Fractional Order Fuzzy PID Frequency Controller for Hybrid Power Systems

2019 ◽  
Vol 12 (6) ◽  
pp. 519-531
Author(s):  
Deepak Kumar Lal ◽  
Ajit Kumar Barisal
Keyword(s):  
Power Systems ◽  
Power System ◽  
Fractional Order ◽  
Pid Controller ◽  
Load Frequency Control ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Hybrid Power ◽  
Increasing Demand

Background: Due to the increasing demand for the electrical power and limitations of conventional energy to produce electricity. Methods: Now the Microgrid (MG) system based on alternative energy sources are used to provide electrical energy to fulfill the increasing demand. The power system frequency deviates from its nominal value when the generation differs the load demand. The paper presents, Load Frequency Control (LFC) of a hybrid power structure consisting of a reheat turbine thermal unit, hydropower generation unit and Distributed Generation (DG) resources. Results: The execution of the proposed fractional order Fuzzy proportional-integral-derivative (FO Fuzzy PID) controller is explored by comparing the results with different types of controllers such as PID, fractional order PID (FOPID) and Fuzzy PID controllers. The controller parameters are optimized with a novel application of Grasshopper Optimization Algorithm (GOA). The robustness of the proposed FO Fuzzy PID controller towards different loading, Step Load Perturbations (SLP) and random step change of wind power is tested. Further, the study is extended to an AC microgrid integrated three region thermal power systems. Conclusion: The performed time domain simulations results demonstrate the effectiveness of the proposed FO Fuzzy PID controller and show that it has better performance than that of PID, FOPID and Fuzzy PID controllers. The suggested approach is reached out to the more practical multi-region power system. Thus, the worthiness and adequacy of the proposed technique are verified effectively.

Core power control of a space nuclear reactor based on a nonlinear model and fuzzy-PID controller

2021 ◽  
pp. 103564
Author(s):  
Wenjie Zeng ◽  
Qingfeng Jiang ◽  
Yinuo Liu ◽  
Shoujun Yan ◽  
Guangchun Zhang ◽  
...  
Keyword(s):  
Power Control ◽  
Nonlinear Model ◽  
Pid Controller ◽  
Nuclear Reactor ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller
Sign in / Sign up

Export Citation Format

Share Document