EXOSKELETON ROBOT USING HYDRAULIC BILATERAL SERVO ACTUATOR SYSTEM FOR NON-AMBULATORY PERSON’S TRANSFER

2010 ◽  
Author(s):  
JULIEN MONNET ◽  
YUKIO SAITO ◽  
KENGO ONISHI
Keyword(s):  
Exoskeleton Robot ◽  
Servo Actuator ◽  
Actuator System

Quantitative Feedback Theory control design using particle swarm optimization method

2011 ◽  
Vol 34 (4) ◽  
pp. 463-476 ◽  
Author(s):  
Hazem I Ali ◽  
Samsul Bahari B Mohd Noor ◽  
SM Bashi ◽  
Mohammad Hamiruce Marhaban
Keyword(s):  
Particle Swarm Optimization ◽  
Particle Swarm ◽  
Design Procedure ◽  
Pso Algorithm ◽  
Optimization Method ◽  
Quantitative Feedback Theory ◽  
Swarm Optimization ◽  
Servo Actuator ◽  
Actuator System ◽  
And Performance

In this paper, a particle swarm optimization (PSO) method is proposed to design Quantitative Feedback Theory (QFT) control. This method minimizes a proposed cost function subject to appropriate robust stability and performance QFT constraints. The PSO algorithm is simple and easy to implement, and can be used to automate the loop shaping procedures of the standard QFT. The proposed method is applied to the high uncertainty pneumatic servo actuator system as an example to illustrate the design procedure of the proposed algorithm. The proposed method is compared with the standard QFT control. The results show that the superiority of the proposed method in that it can achieve the same robustness requirements of standard QFT control with simple structure and low order controller.

DIFFERENTIAL EVOLUTION FOR OPTIMIZATION OF PID GAIN IN ELECTRICAL DISCHARGE MACHINING CONTROL SYSTEM

2013 ◽  
Vol 37 (3) ◽  
pp. 293-301 ◽  
Author(s):  
Trias Andromeda ◽  
Azli Yahya ◽  
Syahrullail Samion ◽  
Ameruddin Baharom ◽  
Nor Liyana Hashim
Keyword(s):  
Control System ◽  
Differential Evolution ◽  
Electrical Discharge ◽  
Pid Controller ◽  
Electrical Discharge Machining ◽  
Machining Process ◽  
Electrode Position ◽  
De Algorithm ◽  
Servo Actuator ◽  
Actuator System

PID controller of servo control system maintains the gap between Electrode and workpiece in Electrical Discharge Machining (EDM). Capability of the controller is significant since machining process is a stochastic phenomenon and physical behaviour of the discharge is unpredictable. Therefore, a Proportional Integral Derivative (PID) controller using Differential Evolution (DE) algorithm is designed and applied to an EDM servo actuator system in order to find suitable gain parameters. Simulation results verify the capabilities and effectiveness of the DE algorithm to search the best configuration of PID gain to maintain the electrode position.

PID Controller Tuning by Differential Evolution Algorithm on EDM Servo Control System

2013 ◽  
Vol 284-287 ◽  
pp. 2266-2270 ◽  
Author(s):  
Andromeda Trias ◽  
Azli Yahya ◽  
Samion Syahrullail ◽  
Ameruddin Baharom ◽  
Safura Hashim Nor Liyana
Keyword(s):  
Control System ◽  
Differential Evolution ◽  
Pid Controller ◽  
Electrical Discharge Machining ◽  
Differential Evolution Algorithm ◽  
Electrode Position ◽  
De Algorithm ◽  
Pid Controller Tuning ◽  
Servo Actuator ◽  
Actuator System

Maintaining gap between Electrode and workpiece in Electrical Discharge Machining (EDM) is very important since the capability of control system to keep the gap will improve the performance of this machine. Therefore to maintain the gap, a Proportional Integral Derivative (PID) controller is designed and applied to EDM servo actuator system. The objective of this work is to obtain a stable, robust and controlled system by tuning the PID controller using Differential Evolution (DE) algorithm. The controller for EDM die sinking is verified by simulation of the control system using MATLAB/Simulink program. Simulation results verify the capabilities and effectiveness of the DE algorithm to search the best configuration of PID parameters controller to control the electrode position.

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