scholarly journals Comparison of Position Control of a Gyroscopic Inverted Pendulum Using PID, Fuzzy Logic and Fuzzy PID controllers

2018 ◽  
Vol 18 (2) ◽  
pp. 103-110 ◽  
Author(s):  
Mohammed Rabah ◽  
Ali Rohan ◽  
Sung-Ho Kim
Keyword(s):  
Fuzzy Logic ◽  
Inverted Pendulum ◽  
Position Control ◽  
Pid Controllers ◽  
Fuzzy Pid

scholarly journals Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 745
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cristian Calderon ◽  
Juan Guerra
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Parallel Robot ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
End Effector ◽  
Robot Systems ◽  
Decoupled Control ◽  
The Mathematical Model ◽  
Decoupled Structure

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

Fuzzy logic algorithm of hovering control for the quadrotor unmanned aerial system

2017 ◽  
Vol 10 (4) ◽  
pp. 451-463 ◽  
Author(s):  
Lie Yu ◽  
Jia Chen ◽  
Yukang Tian ◽  
Yunzhou Sun ◽  
Lei Ding
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Pid Controller ◽  
Position Control ◽  
Horizontal Component ◽  
Pid Controllers ◽  
Content Type ◽  
Fuzzy Logic Algorithm ◽  
Velocity Tracking ◽  
Hovering Control

Purpose The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems (UASs). In addition, the aim of using two PID controller is to achieve the position control and velocity control simultaneously. Design/methodology/approach The dynamic of the UASs is mathematically modeled. One PID controller is used for position tracking control, while the other is selected for the vertical component of velocity tracking control. Meanwhile, fuzzy logic algorithm is presented to use the actual horizontal component of velocity to compute the desired position. Findings Based on this fuzzy logic algorithm, the control error of the horizontal component of velocity tracking control is narrowed gradually to be zero. The results show that the fuzzy logic algorithm can make the UASs hover still in the air and vertical to the ground. Social implications The acquired results are based on simulation not experiment. Originality/value This is the first study to use two independent PID controllers to realize stable hovering control for UAS. It is also the first to use the velocity of the UAS to calculate the desired position.

Research on the Application of the Fuzzy Control Algrithm in the HAPC System

2012 ◽  
Vol 220-223 ◽  
pp. 157-160
Author(s):  
Jing Qing Ma ◽  
Hai Bo Chen
Keyword(s):  
Dynamic Response ◽  
Pid Controller ◽  
Position Control ◽  
Pid Controllers ◽  
Control Methods ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Main Factors ◽  
High Control ◽  
Control Accuracy

The HAPC(Hydraulic Automatic Position Control) requires quick dynamic response and high control accuracy. Based on the research of the HAPC system, I build the HAPC mathematical model, then design both the Conventional PID controller and fuzzy PID controllers, simulate the two control methods using the MATLAB software, analyze the main factors which influence the results. The simulation results show that the fuzzy PID controller has the better effect in the dynamic response and the control accuracy than the former.

Integrating Servo-Pneumatic Actuator with Ball Beam System based on Intelligent Position Control

2014 ◽  
Vol 69 (3) ◽  
Author(s):  
Muhammad Asyraf Azman ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Nu’man Din Mustafa ◽  
Khairuddin Osman ◽  
Elango Natarajan
Keyword(s):  
Fuzzy Logic ◽  
Position Control ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Pneumatic Actuator ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Beam System ◽  
Position Controller ◽  
Simulation Results

The purpose of this paper is to design a controller that can control the position of the cylinder pneumatic stroke. This work proposes two control approaches, Proportional-Integral-Derivative Fuzzy Logic (Fuzzy-PID) controller and Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controller for a Servo-Pneumatic Actuator. The design steps of each controller implemented on MATLAB/Simulink are presented. A model based on position system identification is used for the controller design. Then, the simulation results are analyzed and compared to illustrate the performance of the proposed controllers. Finally, the controllers are tested with the real plant in real-time experiment to validate the results obtained by simulation. Results show that PD-Fuzzy controller offer better control compared to Fuzzy-PID. A Pneumatic Actuated Ball & Beam System (PABBS) is proposed as the application of the position controller. The mathematical model of the system is developed and tested simulation using Feedback controller (outer loop)-PD-Fuzzy controller (inner loop). Simulation result is presented to see the effectiveness of the obtained model and controller. Results show that the servo-pneumatic actuator can control the position of the Ball & Beam system using PD-Fuzzy controller.

Development of Servo Drive Positioning Control System Using PID Controller and Fuzzy Logic Controller

2021 ◽  
Vol 26 (6) ◽  
pp. 583-588
Author(s):  
Zaw Myo Naing ◽  
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Pid Controller ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Settling Time ◽  
Fuzzy Pid ◽  
Servo Drive ◽  
Positioning Control ◽  
Fuzzy Pid Controller

Servo drives are one of the most widely utilized devices in various mechanical systems and industrial applications to provide precise position control. The study of servo driver produc-tiveness and performance index is the important task. In this work, PID controller and fuzzy log-ic controller (FLC) were developed to control the position of a DC servo drive. The MATLAB Simulink program was investigated and implemented to calculate the values of servo drive pa-rameters, and a scheme for simulating the operation of a servo drive using different controllers was presented. A mathematical model of a DC servo drive for a positioning control system has been proposed. The control characteristics of the PID controller, fuzzy logic controller and fuzzy PID controller are compared. The simulation results have shown that the PID controller allows for an overshoot of about 1 % with a settling time of about 4 sec. The use of the fuzzy PID con-troller reduces the maximum overshoot to 1 % and decreases the settling time to 2 sec. As a re-sult, the fuzzy PID controller allows for better performance and efficiency compared to other controllers.

Anti-Swing and Position Control of Single Wheeled Inverted Pendulum Robot (SWIPR)

2018 ◽  
Vol 9 (4) ◽  
pp. 37-47
Author(s):  
Ashwani Kharola ◽  
Piyush Dhuliya ◽  
Priyanka Sharma
Keyword(s):  
Fuzzy Logic ◽  
Inverted Pendulum ◽  
Position Control ◽  
Membership Functions ◽  
Performance Parameters ◽  
Fuzzy Logic Controllers ◽  
Simulink Model ◽  
Wheeled Inverted Pendulum ◽  
Mathematical Equations ◽  
Rising Time

This article presents a fuzzy logic based offline control strategy for the stabilisation of a single-wheeled inverted pendulum robot (SWIPR). A SWIPR comprises of robot chassis mounted on a single wheel. A Matlab-Simulink model of the system has been built from mathematical equations derived using Newton's second law of motion. The study considers three different shape membership functions (MFs) i.e. gaussian, gbell and trapezoidal for designing of fuzzy logic controllers (FLCs). The performance parameters considered for comparison of controllers were rising time, settling time, steady state error and maximum overshoot. The simulation results proved the superiority of gbell MFs over other MFs.

scholarly journals Fuzzy logic controller design for PUMA 560 robot manipulator

2020 ◽  
Vol 9 (2) ◽  
pp. 73
Author(s):  
Abdel-Azim S. Abdel-Salam ◽  
Ibrahim N. Jleta
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Controller Design ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Pid Controllers ◽  
Fuzzy Logic Controllers ◽  
Better Than ◽  
Computed Torque

The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on simulation results we conclude that the performance of the fuzzy logic controller in term of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers.

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