Self-Tuning PID Controller for Quadcopter using Fuzzy Logic

Tracking has become a necessary feature of a drone. This is due to the demand for drones, especially quadcopters, to be used for activities such as surveillance, monitoring, and filming. It is crucial to ensure the quadcopters perform the tracking with stable flight. Despite the advantages of having VTOL ability and great maneuverability, quadcopters require an effective controller to overcome their under-actuation and instability behavior. Even though a PID controller is commonly used and promising with its simple mechanism, it requires very proper tuning to ensure the stability of the system is not affected. In this paper, a simple Fuzzy algorithm is proposed to be incorporated into a PID controller to form a self-tuning Fuzzy PID controller. The Fuzzy logic controller works as the self-adjuster to the PID parameters. A mathematical model of the DJI Tello quadcopter is derived with position and attitude control loops that are designed to track a variety of trajectories with stable flight. The proposed method uses a simple architecture where the ranges of PID parameters are used as scaling factors for Fuzzy controller outputs. The results of the simulations show the tracking error performance metrics, which are IAE, ISE, and RMSE, are smaller compared to the values of the PID controller. Beyond its impact on quadcopter control, the proposed self-tuning approach holds promise for broader applications in nonlinear systems

Fuzzy-tuned PID anti-swing control of automatic gantry crane

Anti-swing control is a well-known term in gantry crane control. It is designed to move the payload of gantry crane as fast as possible while the payload swing angle should be kept as small as possible at the final position. A number of studies have proposed anti-swing control using the well-known proportional, integral, derivative (PID) control method. However, PID controllers cannot always effectively control systems with changing parameters. Some studies have also proposed intelligent-based control including fuzzy control. However, the designers often have to face the problem of tuning many parameters during the design to obtain optimum performance. Thus, a lot of effort has to be taken in the design stage. In this paper Fuzzy-tuned PID controller design for anti-swing gantry crane control is presented. The objective is to design a practical anti-swing control which is simple in the design and also robust. The proposed Fuzzy-tuned PID utilizes fuzzy system as PID gain tuners to achieve robust performance to parameters variations in the gantry crane. A complex dynamic analysis of the system is not needed. PID controller is firstly optimized in MATLAB using a rough model dynamic of the system which is identified by conducting a simple open-loop experiment. Then, the PID gains are used to guide the range of the fuzzy outputs of the Fuzzy-tuned PID controllers. The experimental results show that the proposed anti-swing controller has satisfactory performance. In addition, the proposed method is straightforward in the design

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 Fuzzy Cascaded Proportional-Derivative Controller for Under-actuated Flexible Joint Manipulators Using Bayesian Optimization

This paper proposes a novel fuzzy cascaded Proportional-Derivative (PD) controller for under-actuated single-link flexible joint manipulators. The original flexible joint system is considered as two coupled $2^{nd}$-order sub-systems. The proposed controller is composed of two cascaded PD controllers and two fuzzy logic regulators (FLRs). The first (virtual) PD controller is used to generate desired control input that stabilizes the first $2^{nd}$-order sub-system. Solving the equation by considering the coupling terms as design variables, the reference signal is generated for the second sub-system. Then through simple compensation design, together with the second PD controller, the cascaded PD controller is derived. In order to further improve the performance, two FLRs are implemented that adaptively tune the parameters of PD controllers. Under natural assumptions, the cascaded fuzzy PD controller is proved to possess locally asymptotic stability. All the offline tuning processes are completed data-efficiently by Bayesian Optimization. The results in simulation illustrate the stability and validity of our proposed method. Besides, the idea of cascaded PD controller presented here may be extended as a novel control method for other under-actuated systems, and the stability analysis renders a new perspective towards the stability proof of all other fuzzy-enhanced PID controllers.Comment: 19 pages, 23 figures, 6 table

Extruder for food product (otak–otak) 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 an’ 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