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Novel fuzzy logic controllers with self-tuning capability
Two controllers which extend the PD+I fuzzy logic controller to deal with the plant having time varying nonlinear dynamics are proposed. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is achieved by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second controller (STPD+I_9) is the simplified version of STPD+I_31 which is designed under the imposed constraint that allows only minimum number of rules in the rule bases. The proposed controllers are compared with two classical nonlinear controllers: the pole placement self tuning PID controller and sliding mode controller. All the controllers are applied to the two-links revolute robot for the tracking control. The tracking performance of STPD+I_31 and STPD+I_9 are much better than the pole placement self tuning PID controller during high speed motions while the performance are comparable at low and medium speed. In addition, STPD+I_31 and STPD+I_9 outperform sliding mode controller using same method of comparison study
On the Selection of Tuning Methodology of FOPID Controllers for the Control of Higher Order Processes
In this paper, a comparative study is done on the time and frequency domain
tuning strategies for fractional order (FO) PID controllers to handle higher
order processes. A new fractional order template for reduced parameter modeling
of stable minimum/non-minimum phase higher order processes is introduced and
its advantage in frequency domain tuning of FOPID controllers is also
presented. The time domain optimal tuning of FOPID controllers have also been
carried out to handle these higher order processes by performing optimization
with various integral performance indices. The paper highlights on the
practical control system implementation issues like flexibility of online
autotuning, reduced control signal and actuator size, capability of measurement
noise filtration, load disturbance suppression, robustness against parameter
uncertainties etc. in light of the above tuning methodologies.Comment: 27 pages, 10 figure
Optimum PID Control of Multi-wing Attractors in A Family of Lorenz-like Chaotic Systems
Multi-wing chaotic attractors are highly complex nonlinear dynamical systems
with higher number of index-2 equilibrium points. Due to the presence of
several equilibrium points, randomness of the state time series for these
multi-wing chaotic systems is higher than that of the conventional double wing
chaotic attractors. A real coded Genetic Algorithm (GA) based global
optimization framework has been presented in this paper, to design optimum PID
controllers so as to control the state trajectories of three different
multi-wing Lorenz like chaotic systems viz. Lu, Rucklidge and Sprott-1 system.Comment: 6 pages, 21 figures; 2012 Third International Conference on
Computing, Communication and Networking Technologies (ICCCNT'12), July 2012,
Coimbator
Extruder for food product (otakâotak) with heater and roll cutter
Food extrusion is a form of extrusion used in food industries. It is a process by which a set of mixed ingredients are forced through an opening in a perforated plate or die with a design specific to the food, and is then cut to a specified size by blades [1]. Summary of the invention principal objects of the present invention are to provide a machine capable of continuously producing food products having anâ extruded filler material of meat or similarity and an extruded outer covering of a moldable food product, such as otak-otak, that completely envelopes the filler material
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
Self-tuning run-time reconfigurable PID controller
Digital PID control algorithm is one of the most commonly used algorithms in the control systems area. This algorithm is very well known, it is simple, easily implementable in the computer control systems and most of all its operation is very predictable. Thus PID control has got well known impact on the control system behavior. However, in its simple form the controller have no reconfiguration support. In a case of the controlled system substantial changes (or the whole control environment, in the wider aspect, for example if the disturbances characteristics would change) it is not possible to make the PID controller robust enough. In this paper a new structure of digital PID controller is proposed, where the policy-based computing is used to equip the controller with the ability to adjust it's behavior according to the environmental changes. Application to the electro-oil evaporator which is a part of distillation installation is used to show the new controller structure in operation
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
'Constant in gain Lead in phase' element - Application in precision motion control
This work presents a novel 'Constant in gain Lead in phase' (CgLp) element
using nonlinear reset technique. PID is the industrial workhorse even to this
day in high-tech precision positioning applications. However, Bode's gain phase
relationship and waterbed effect fundamentally limit performance of PID and
other linear controllers. This paper presents CgLp as a controlled nonlinear
element which can be introduced within the framework of PID allowing for wide
applicability and overcoming linear control limitations. Design of CgLp with
generalized first order reset element (GFORE) and generalized second order
reset element (GSORE) (introduced in this work) is presented using describing
function analysis. A more detailed analysis of reset elements in frequency
domain compared to existing literature is first carried out for this purpose.
Finally, CgLp is integrated with PID and tested on one of the DOFs of a planar
precision positioning stage. Performance improvement is shown in terms of
tracking, steady-state precision and bandwidth
Complex Dynamics in Fed-Batch Systems: Modeling, Analysis and Control of Alcoholic Fermentations
Modeling and control of fed-batch fermentation processes has been a subject of great interest to realize high productivity and yields from the fermentation technique. The goal of this dissertation was to gain insights into how the complex dynamic behaviors exhibited in fed-batch fermentation systems affect the stability of standard single-loop as well as non-standard feedback control structures. Novel PID stability theorems were established to help construct the controller stabilizing regions
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