Adaptive Active Force Control Application to Twin Rotor Mimo System

2013 ◽  
Vol 393 ◽  
pp. 688-693 ◽  
Author(s):  
Hanif Ramli ◽  
Wahyu Kuntjoro ◽  
M.S. Meon ◽  
K.M Asraf K. Ishak
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Mimo System ◽  
Active Force ◽  
Optimum Control ◽  
Active Force Control ◽  
Non Linear ◽  
Artificial Neural Network Ann ◽  
Twin Rotor Mimo System ◽  
Twin Rotor

This paper reports a current study on modeling and simulation of adaptive Active Force Control (AFC) based scheme embedded with an artificial neural network (ANN) and/or fuzzy logic (FL) in response manipulations of the twin rotor multi-input multi-output (MIMO) system (TRMS). TRMS is well known for its non-linear behaviour and common classical control scheme such as Proportional-Integral-Derivative (PID) would not be adequate to compensate disturbances. The disturbances in this case were as the results of non-linear external and internal parametric changes, namely angular momentum and couple reactions between the two axes of TRMS. The adaptive control algorithm was proposed in both pitch and yaw to generate an optimum control gain for both responses, simulated viz. MATLAB/SIMULINK software Package. The ANN and FL were integrated into the scheme and act as optimum control algorithm in catalyzing the performance of the TRMS. The results from hybrid conditions of PID-AFC, PID-AFC-ANN and PID-AFC-FL respectively were observed and analyzed. From performance evaluation, PID-AFC-FL scheme has demonstrated a potentially robust and effective manipulating capability in trajectory tracking.

scholarly journals A simulation and experimental study on wheeled mobile robot path control in road roundabout environment

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983477
Author(s):  
Mohammed AH Ali ◽  
Musa Mailah
Keyword(s):  
Experimental Study ◽  
Mobile Robot ◽  
Force Control ◽  
Control Algorithm ◽  
Dynamic Modelling ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control ◽  
Novel Approach ◽  
Resolved Acceleration Control

A robust control algorithm for tracking a wheeled mobile robot navigating in a pre-planned path while passing through the road’s roundabout environment is presented in this article. The proposed control algorithm is derived from both the kinematic and dynamic modelling of a non-holonomic wheeled mobile robot that is driven by a differential drive system. The road’s roundabout is represented in a grid map and the path of the mobile robot is determined using a novel approach, the so-called laser simulator technique within the roundabout environment according to the respective road rules. The main control scheme is experimented in both simulation and experimental study using the resolved-acceleration control and active force control strategy to enable the robot to strictly follow the predefined path in the presence of disturbances. A fusion of the resolved-acceleration control–active force control controller with Kalman Filter has been used empirically in real time to control the wheeled mobile robot in the road’s roundabout setting with the specific purpose of eliminating the noises. Both the simulation and the experimental results show the capability of the proposed controller to track the robot in the predefined path robustly and cancel the effect of the disturbances.

scholarly journals Design and performance comparison of different adaptive control schemes for pitch angle control in a twin – rotor – MIMO – system

2019 ◽  
Vol 9 (5) ◽  
pp. 4114 ◽  
Author(s):  
Winston Netto ◽  
Rohan Lakhani ◽  
S. Meenatchi Sundaram
Keyword(s):  
Adaptive Control ◽  
Mimo System ◽  
Cross Coupling ◽  
Performance Comparison ◽  
Superior Performance ◽  
Main Rotor ◽  
Adaptive Schemes ◽  
Non Linear ◽  
Twin Rotor Mimo System ◽  
Twin Rotor

The Twin Rotor MIMO System is a higher order non-linear plant and is inherently unstable due to cross coupling between tail and main rotor. In this paper only the control of main rotor is considered which is non-linear and stable by using adaptive schemes. The control problem is to achieve perfect tracking for input reference signals while maintaining robustness and stability. Four adaptive schemes were implemented, two using Model Reference Adaptive Control under which MIT rule and Modified MIT rule are used. The other two using Adaptive Interaction, namely, Adaptive PID and Approximate Adaptive PID. It is observed that adaptive schemes fulfill all the three system performance requirements at the same time. Modified MIT rule was found to give superior performance in comparison to other controllers. Also Approximate Adaptive PID was able to stabilize the main rotor and cancel the effect of cross coupling between tail rotor and main rotor when operating simultaneously without the need for designing decouplers for the system. Thus the main rotor can be made independent from the state of the tail rotor by using Approximate Adaptive PID.

scholarly journals An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

2016 ◽  
Vol 114 ◽  
pp. 012136 ◽  
Author(s):  
Wan Hasbullah Mohd Isa ◽  
Zahari Taha ◽  
Ismail Mohd Khairuddin ◽  
Anwar P.P. Abdul Majeed ◽  
Khairul Fikri Muhammad ◽  
...  
Keyword(s):  
Upper Extremity ◽  
Force Control ◽  
Control Algorithm ◽  
Motor Recovery ◽  
Active Force ◽  
Active Force Control
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