scholarly journals Vision-based Fuzzy Proportional–Integral–Derivative Tracking Control Scheme for Gantry Crane System

2021 ◽  
Vol 33 (9) ◽  
pp. 3333
Author(s):  
Feijie Zheng ◽  
Chi-Hsin Yang ◽  
Gao Hao ◽  
Kun-Chieh Wang ◽  
Hai-Lian Hong
Keyword(s):  
Tracking Control ◽  
Gantry Crane ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Control Scheme

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yihui Gong ◽  
Lin Li ◽  
Shengbo Qi ◽  
Changbin Wang ◽  
Dalei Song
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Control Scheme ◽  
Yaw Attitude ◽  
Nonlinear Hydrodynamics ◽  
Parameters Perturbation

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

scholarly journals PD-SVM Integrated Controller for Robotic Manipulator Tracking Control

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Neha Kapoor ◽  
Jyoti Ohri
Keyword(s):  
Neural Network ◽  
Support Vector Machine ◽  
System Performance ◽  
Tracking Control ◽  
Pid Controller ◽  
Robotic Manipulator ◽  
Support Vector ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Noise Disturbances

Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) controller. It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.

Path tracking control of electromechanical micro-positioner by considering control effort of the system

2020 ◽  
pp. 095965182095327
Author(s):  
Mohammad Reza Gharib ◽  
Ali Koochi ◽  
Mojtaba Ghorbani
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Path Tracking ◽  
Lumped Parameter Model ◽  
Proportional Integral Derivative ◽  
Control Effort ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Micro Actuators ◽  
And Control

Position controlling with less overshoot and control effort is a fundamental issue in the design and application of micro-actuators such as micro-positioner. Also, tracking a considered path is very crucial for some particular applications of micro-actuators such as surgeon robots. Herein, a proportional–integral–derivative controller is designed using a feedback linearization technique for path tracking control of a cantilever electromechanical micro-positioner. The micro-positioner is simulated based on a 1-degree-of-freedom lumped-parameter model. Three different paths are considered, and the capability of the designed controller on the path tracking with lower error and control effort is investigated. The obtained results demonstrate the efficiency of the designed proportional–integral–derivative controller not only for reducing the tracking error but also for decreasing the control effort.

Design of a performance-adaptive proportional—integral—derivative controller for stochastic systems

2008 ◽  
Vol 222 (7) ◽  
pp. 691-700 ◽  
Author(s):  
T Yamamoto ◽  
Y Ohnishi ◽  
S L Shah
Keyword(s):  
Process Model ◽  
Stochastic Systems ◽  
Proportional Integral Derivative ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Adaptive Controllers ◽  
Proportional Integral Derivative Controller ◽  
Control Loops ◽  
Proportional Integral ◽  
Control Scheme

In order to manufacture high-quality products it is necessary to regularly monitor the performance of the control loops that regulate the quality variables of interest. This paper describes a design scheme of performance-adaptive controllers which are based on the above control strategy. According to the proposed control scheme, the output prediction error is monitored regularly and system identification is initiated if this error exceeds a user-defined threshold. Subsequently proportional—integral—derivative (PID) parameters are updated for the new model. Optimal PID parameters are calculated based on the linear quadratic Gaussian (LQG) trade-off curve obtained for the reidentified process model. The behaviour of the proposed control scheme is numerically evaluated by some simulation examples.

Predictive feedback control: An alternative to proportional-integral-derivative control

2009 ◽  
Vol 223 (7) ◽  
pp. 901-917
Author(s):  
L Giovanini
Keyword(s):  
Predictive Control ◽  
Pid Controller ◽  
Proportional Integral Derivative ◽  
Delay Compensation ◽  
Industrial Practice ◽  
Proportional Integral ◽  
Control Scheme ◽  
Control Schemes ◽  
And Performance ◽  
Time Delay Compensation

Even though employed widely in industrial practice, the popular proportional-integral-derivative (PID) controller has weaknesses that limit its achievable performance. In this paper, an alternative control scheme that combines the simplicity of the PID controller with the versatility of model predictive control is presented. The result is a controller that combines the time-delay compensation capability of predictive control algorithms, the effectiveness of inferential control schemes for disturbance rejection, and the adaptation capabilities of switching controllers. The robust stability and performance of the controller are analysed. These results are then used to generate two tuning procedures. The design, implementation, and performance of the controller are illustrated via simulations on linear and non-linear systems.

scholarly journals Positioning Control and Operational Evaluation of A One Mass Rotary System using NCTF Controller

2018 ◽  
Vol 7 (3.28) ◽  
pp. 111
Author(s):  
Rozilawati Mohd Nor ◽  
Sahazati Md Rozali ◽  
Chong Shin Horng
Keyword(s):  
Tracking Control ◽  
Open Loop ◽  
Object Motion ◽  
Motion Error ◽  
Positioning Control ◽  
Proportional Integral ◽  
Control Scheme ◽  
Controller Performance ◽  
Motion Performance ◽  
Trajectory Following

A practical control scheme is proposed for a one mass rotary system. It was written to demonstrate the controller performance towards positioning and tracking control. For this system, the Nominal Characteristic Trajectory Following (NCTF) controller is proposed and improved. The objective of NCTF controller is to make the object motion to follow the NCT and ends at it origin. Generally, the NCTF controller consists of a Nominal Characteristic Trajectory (NCT) obtained from open loop response and Proportional Integral (PI) compensator. The CM-NCTF controller is proposed for evaluating the motion performance and compare with the conventional NCTF controller. For positioning control, both NCTF controllers demonstrate almost identical positioning performance. However, for tracking control, CM-NCTF controller demonstrates better tracking performance than the conventional NCTF controller with the smallest motion error presented. Besides, the robustness of the CM-NCTF controller to the variation load is examined. 

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