25,920 research outputs found
Novel Robust Control Using a Fractional Adaptive PID Regulator for an unstable system
Recent advances in fractional order calculus led to the improvement of control theory and resulted in potential use of fractional adaptive PID controller in advanced academic and industrial applications as compared to the conventional adaptive PID controller. Basically, a fractional order adaptive PID controller is an improved version of classical integer order adaptive PID controller that outperformed its classical counterpart. In case of a closed loop system, a minute change would result in instability of the overall system. An efficient PID controller can be used to control the response of such system. Among various parameters of an instable system, speed of the system is an important parameter to be controlled efficiently. The current research work presents the speed controlling mechanism for an uncertain instable system by using fractional order adaptive PID controller.To validate the arguments, effectiveness and robustness of the proposed fractional order adaptive PID controller have been studied in comparison to the classical adaptive PID controller using The Criterion of quadratic error. Simulation findings and comparisons demonstrated that the proposed controller has superior control performance and outstanding robustness in terms of percentage overshoot, settling time, rising time, and disturbance rejection
AN ADAPTIVE PID-CONTROLLER
The adjustment of controllers to unknown processes is a time consuming and sometimes
difficult task in industry. One possible solution for this problem is the usage of an adaptive
controller which automatically determines its optimal parameters. This paper presents a
new method to calculate the parameters of a PI(D)-controller from the measurement data
of an unknown process for the single-inputfsingle-output case
Mathematical Modeling and Fuzzy Adaptive PID Control of Erection Mechanism
This paper describes an application of fuzzy adaptive PID controller to erection mechanism. Mathematical model of erection mechanism was derived. Erection mechanism is driven by electro-hydraulic actuator system which is difficult to control due to its nonlinearity and complexity. Therefore fuzzy adaptive PID controller was applied to control the system. Simulation was performed in Simulink software and experiment was accomplished on laboratory equipment. Simulation and experiment results of erection angle controlled by fuzzy logic, PID and fuzzy adaptive PID controllers were respectively obtained. The results show that fuzzy adaptive PID controller can effectively achieve the best performance for erection mechanism in comparison with fuzzy logic and PID controllers
Design of a model reference adaptive PID control algorithm for a tank system
This paper describes the design of an adaptive controller based on model reference adaptive PID control (MRAPIDC) to stabilize a two-tank process when large variations of parameters and external disturbances affect the closed-loop system. To achieve that, an innovative structure of the adaptive PID controller is defined, an additional PI is designed to make sure that the reference model produces stable output signals and three adaptive gains are included to guarantee stability and robustness of the closed-loop system. Then, the performance of the model reference adaptive PID controller on the behaviour of the closed-loop system is compared to a PI controller designed on MATLAB when both closed-loop systems are under various conditions. The results demonstrate that the MRAPIDC performs significantly better than the conventional PI controller
Self-learning PID Control for X-Y NC Position Table with Uncertainty Base on Neural Network
An adaptive radical basis function (RBF) neural network PID control scheme for X-Y position table is proposed by the paper. Firstly, X-Y position table model is established, controller based on neutral network is used to learn adaptive and compensate uncertainty model of X-Y position table, neutral network is used to study model. PID neural network controller base on augmented variable method is designed. PID controller is used as assistant direction error controller, neural network parameters base on stochastic gradient algorithm can be adjust adaptive on line. The simulation results show that the presented controller has important engineering value
A novel technique for load frequency control of multi-area power systems
In this paper, an adaptive type-2 fuzzy controller is proposed to control the load frequency of a two-area power system based on descending gradient training and error back-propagation. The dynamics of the system are completely uncertain. The multilayer perceptron (MLP) artificial neural network structure is used to extract Jacobian and estimate the system model, and then, the estimated model is applied to the controller, online. A proportional–derivative (PD) controller is added to the type-2 fuzzy controller, which increases the stability and robustness of the system against disturbances. The adaptation, being real-time and independency of the system parameters are new features of the proposed controller. Carrying out simulations on New England 39-bus power system, the performance of the proposed controller is compared with the conventional PI, PID and internal model control based on PID (IMC-PID) controllers. Simulation results indicate that our proposed controller method outperforms the conventional controllers in terms of transient response and stability
Bayesian Optimization-based Nonlinear Adaptive PID Controller Design for Robust Mobile Manipulation
In this paper, we propose to use a nonlinear adaptive PID controller to
regulate the joint variables of a mobile manipulator. The motion of the mobile
base forces undue disturbances on the joint controllers of the manipulator. In
designing a conventional PID controller, one should make a trade-off between
the performance and agility of the closed-loop system and its stability
margins. The proposed nonlinear adaptive PID controller provides a mechanism to
relax the need for such a compromise by adapting the gains according to the
magnitude of the error without expert tuning. Therefore, we can achieve agile
performance for the system while seeing damped overshoot in the output and
track the reference as close as possible, even in the presence of external
disturbances and uncertainties in the modeling of the system. We have employed
a Bayesian optimization approach to choose the parameters of a nonlinear
adaptive PID controller to achieve the best performance in tracking the
reference input and rejecting disturbances. The results demonstrate that a
well-designed nonlinear adaptive PID controller can effectively regulate a
mobile manipulator's joint variables while carrying an unspecified heavy load
and an abrupt base movement occurs
A survey of fuzzy control for stabilized platforms
This paper focusses on the application of fuzzy control techniques (fuzzy
type-1 and type-2) and their hybrid forms (Hybrid adaptive fuzzy controller and
fuzzy-PID controller) in the area of stabilized platforms. It represents an
attempt to cover the basic principles and concepts of fuzzy control in
stabilization and position control, with an outline of a number of recent
applications used in advanced control of stabilized platform. Overall, in this
survey we will make some comparisons with the classical control techniques such
us PID control to demonstrate the advantages and disadvantages of the
application of fuzzy control techniques
Reinforcement Learning Adaptive PID Controller for an Under-actuated Robot Arm
Abstract: An adaptive PID controller is used to control of a two degrees of freedom under actuated manipulator. An actor-critic based reinforcement learning is employed for tuning of parameters of the adaptive PID controller. Reinforcement learning is an unsupervised scheme wherein no reference exists to which convergence of algorithm is anticipated. Thus, it is appropriate for real time applications. Controller structure and learning equations as well as update rules are provided. Simulations are performed in SIMULINK and performance of the controller is compared with NARMA-L2 controller. The results verified good performance of the controller in tracking and disturbance rejection tests
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