75 research outputs found

    An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system

    Get PDF
    Conventionally, researchers have favored the model-based control scheme for controlling gantry crane systems. However, this method necessitates a substantial investment of time and resources in order to develop an accurate mathematical model of the complex crane system. Recognizing this challenge, the current paper introduces a novel data-driven control scheme that relies exclusively on input and output data. Undertaking a couple of modifications to the conventional marine predators algorithm (MPA), random average marine predators algorithm (RAMPA) with tunable adaptive coefficient to control the step size (CF) has been proposed in this paper as an enhanced alternative towards fine-tuning data-driven multiple-node hormone regulation neuroendocrine-PID (MnHR-NEPID) controller parameters for the multi-input–multi-output (MIMO) gantry crane system. First modification involved a random average location calculation within the algorithm’s updating mechanism to solve the local optima issue. The second modification then introduced tunable CF that enhanced search capacity by enabling users’ resilience towards attaining an offsetting level of exploration and exploitation phases. Effectiveness of the proposed method is evaluated based on the convergence curve and statistical analysis of the fitness function, the total norms of error and input, Wilcoxon’s rank test, time response analysis, and robustness analysis under the influence of external disturbance. Comparative findings alongside other existing metaheuristic-based algorithms confirmed excellence of the proposed method through its superior performance against the conventional MPA, particle swarm optimization (PSO), grey wolf optimizer (GWO), moth-flame optimization (MFO), multi-verse optimizer (MVO), sine-cosine algorithm (SCA), salp-swarm algorithm (SSA), slime mould algorithm (SMA), flow direction algorithm (FDA), and the formally published adaptive safe experimentation dynamics (ASED)-based methods

    An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system

    Get PDF
    Conventionally, researchers have favored the model-based control scheme for controlling gantry crane systems. However, this method necessitates a substantial investment of time and resources in order to develop an accurate mathematical model of the complex crane system. Recognizing this challenge, the current paper introduces a novel data-driven control scheme that relies exclusively on input and output data. Undertaking a couple of modifications to the conventional marine predators algorithm (MPA), random average marine predators algorithm (RAMPA) with tunable adaptive coefficient to control the step size ( CF) has been proposed in this paper as an enhanced alternative towards fine-tuning data-driven multiple-node hormone regulation neuroendocrine-PID (MnHR-NEPID) controller parameters for the multi-input–multi-output (MIMO) gantry crane system. First modification involved a random average location calculation within the algorithm’s updating mechanism to solve the local optima issue. The second modification then introduced tunable CF that enhanced search capacity by enabling users’ resilience towards attaining an offsetting level of exploration and exploitation phases. Effectiveness of the proposed method is evaluated based on the convergence curve and statistical analysis of the fitness function, the total norms of error and input, Wilcoxon’s rank test, time response analysis, and robustness analysis under the influence of external disturbance. Comparative findings alongside other existing metaheuristic-based algorithms confirmed excellence of the proposed method through its superior performance against the conventional MPA, particle swarm optimization (PSO), grey wolf optimizer (GWO), moth-flame optimization (MFO), multi-verse optimizer (MVO), sine-cosine algorithm (SCA), salp-swarm algorithm (SSA), slime mould algorithm (SMA), flow direction algorithm (FDA), and the formally published adaptive safe experimentation dynamics (ASED)-based methods

    Controlling An-Inverted Pendulum System Using A Microcontroller

    Get PDF
    A self-balancing robot is basically an inverted pendulum. It can balance better if the centre of mass is higher than the wheel axels. A greater centre of mass equals a higher moment of inertia, which equals a lower angular acceleration. Particularly during movement, a well-implemented TWSB robot is able to maintain an upright stance. The majority of papers focus on either creating controllers through the implementation of low-level microcontroller units, such as Arduino Uno, or on dynamic modelling features in which simulation findings are used to decide results rather than real-world applications. This study will concentrate on comparing simulation results to the actual installation of a TWSB robot since fewer researchers have done so. This project intends to study the performance of the produced TWSB robot, examine the applicability of MATLAB to the programming of the TWSB robot, and compare the performance of the TWSB robot to the simulation results from MATLAB. Concurrently, a comparison is made between the present project and earlier work to assess the advantages and disadvantages of each. In this instance, a TWSB robot is constructed utilising an Arduino UNO microcontroller and a PID algorithm controller. The MPU 6050 gyroscope is calibrated before being mounted to the robot in order to maximise the accuracy of the acquired results by determining offset values. MATLAB is used to establish the appropriate control term values for the PID controller in order to replace the human tuning procedure and facilitate the stabilisation of the TWSB robot. According to the results, control term values of Kp = 64, Ki = 45, and Kd = 1.3 are adequate to maintain the posture of the TWSB robot, enabling it to maintain stability on a variety of surfaces, including flat and uneven surfaces, with or without the application of forces and obstructions

    Fuzzy Systems

    Get PDF
    This book presents some recent specialized works of theoretical study in the domain of fuzzy systems. Over eight sections and fifteen chapters, the volume addresses fuzzy systems concepts and promotes them in practical applications in the following thematic areas: fuzzy mathematics, decision making, clustering, adaptive neural fuzzy inference systems, control systems, process monitoring, green infrastructure, and medicine. The studies published in the book develop new theoretical concepts that improve the properties and performances of fuzzy systems. This book is a useful resource for specialists, engineers, professors, and students

    Modeling and control of nonlinear underactuated systems

    Get PDF
    Tato práce je zaměřena na návrh řízení nelineárních systémů. Předpokladem je nejen zajistit správnou funkčnost v okolí určitého pracovního bodu, ale především řešit přechod systému mezi dvěma stavy. Při přesouvání systému ve stavovém prostoru se často výrazně projevuje jeho nelineární chování. Návrh řízení je rozebírán jak ve variantě, kdy je požadováno pouhé splnění převodu mezi stavy, tak v podobě, u které se pomocí účelové funkce specifikují požadované vlastnosti daného přechodu a hledá se optimální řešení. V celém procesu návrhu řízení i při jeho ověřování se využívá v určité podobě model systému (model based design), tudíž modelování je nedílnou součástí této práce. Cílovou skupinou soustav, kterou se práce zabývá, jsou nelineární podaktuované systémy, byť většinu uvedených metod je možné použít obecně. Jako případová studie byl vybrán typický systém reprezentující tuto třídu – jednoramenné inverzní kyvadlo. Ověřování řízení pro realizaci jeho výšvihu probíhá nejen v simulaci, ale také na reálném laboratorním modelu. V závěrečné části práce probíhá návrh řízení pro víceramenná inverzní kyvadla, pomocí čehož se ověřuje univerzálnost celého návrhu a použitelnost metod pro extrémně složité systémy.This thesis focuses on the design of nonlinear system control. The idea is not only to ensure correct functionality around a certain operating point, but also to solve the transition of the system between two states. When moving the system in the state space, its nonlinear behavior is often significantly manifested. The control design is discussed both in a variant where the transition between states is only required and in a form where the desired properties of the transition are specified using an objective function and an optimal solution is searched for. A model of the system is used in some form throughout the control design and verification process (model based design), so modelling is an integral part of this thesis. The target group of systems addressed in this thesis are nonlinear underactuated systems, although most of the methods presented can be applied in general. A typical system representing this class, the single-arm inverted pendulum, was chosen as a case study. Verification of the control to realize its swing-up is carried out not only in simulation but also using a real laboratory model. In the final part of the thesis, the design of the control for multi-arm inverted pendulums is performed, through which the universality of the overall design and the applicability of the methods to extremely complex systems are verified.450 - Katedra kybernetiky a biomedicínského inženýrstvívyhově

    Collected Papers (on Neutrosophic Theory and Applications), Volume VII

    Get PDF
    This seventh volume of Collected Papers includes 70 papers comprising 974 pages on (theoretic and applied) neutrosophics, written between 2013-2021 by the author alone or in collaboration with the following 122 co-authors from 22 countries: Mohamed Abdel-Basset, Abdel-Nasser Hussian, C. Alexander, Mumtaz Ali, Yaman Akbulut, Amir Abdullah, Amira S. Ashour, Assia Bakali, Kousik Bhattacharya, Kainat Bibi, R. N. Boyd, Ümit Budak, Lulu Cai, Cenap Özel, Chang Su Kim, Victor Christianto, Chunlai Du, Chunxin Bo, Rituparna Chutia, Cu Nguyen Giap, Dao The Son, Vinayak Devvrat, Arindam Dey, Partha Pratim Dey, Fahad Alsharari, Feng Yongfei, S. Ganesan, Shivam Ghildiyal, Bibhas C. Giri, Masooma Raza Hashmi, Ahmed Refaat Hawas, Hoang Viet Long, Le Hoang Son, Hongbo Wang, Hongnian Yu, Mihaiela Iliescu, Saeid Jafari, Temitope Gbolahan Jaiyeola, Naeem Jan, R. Jeevitha, Jun Ye, Anup Khan, Madad Khan, Salma Khan, Ilanthenral Kandasamy, W.B. Vasantha Kandasamy, Darjan Karabašević, Kifayat Ullah, Kishore Kumar P.K., Sujit Kumar De, Prasun Kumar Nayak, Malayalan Lathamaheswari, Luong Thi Hong Lan, Anam Luqman, Luu Quoc Dat, Tahir Mahmood, Hafsa M. Malik, Nivetha Martin, Mai Mohamed, Parimala Mani, Mingcong Deng, Mohammed A. Al Shumrani, Mohammad Hamidi, Mohamed Talea, Kalyan Mondal, Muhammad Akram, Muhammad Gulistan, Farshid Mofidnakhaei, Muhammad Shoaib, Muhammad Riaz, Karthika Muthusamy, Nabeela Ishfaq, Deivanayagampillai Nagarajan, Sumera Naz, Nguyen Dinh Hoa, Nguyen Tho Thong, Nguyen Xuan Thao, Noor ul Amin, Dragan Pamučar, Gabrijela Popović, S. Krishna Prabha, Surapati Pramanik, Priya R, Qiaoyan Li, Yaser Saber, Said Broumi, Saima Anis, Saleem Abdullah, Ganeshsree Selvachandran, Abdulkadir Sengür, Seyed Ahmad Edalatpanah, Shahbaz Ali, Shahzaib Ashraf, Shouzhen Zeng, Shio Gai Quek, Shuangwu Zhu, Shumaiza, Sidra Sayed, Sohail Iqbal, Songtao Shao, Sundas Shahzadi, Dragiša Stanujkić, Željko Stević, Udhayakumar Ramalingam, Zunaira Rashid, Hossein Rashmanlou, Rajkumar Verma, Luige Vlădăreanu, Victor Vlădăreanu, Desmond Jun Yi Tey, Selçuk Topal, Naveed Yaqoob, Yanhui Guo, Yee Fei Gan, Yingcang Ma, Young Bae Jun, Yuping Lai, Hafiz Abdul Wahab, Wei Yang, Xiaohong Zhang, Edmundas Kazimieras Zavadskas, Lemnaouar Zedam

    Performance Guarantee of a Class of Continuous LPV System with Restricted-Model-Based Control

    Get PDF
    This paper considers the problem of the robust stabilisation of a class of continuous Linear Parameter Varying (LPV) systems under specifications. In order to guarantee the stabilisation of the plant with very large parameter uncertainties or variations, an output derivative estimation controller is considered. The design of such controller that guarantee desired  induced gain performance is examined. Furthermore, a simple procedure for achieving the  norm performance is proved for any all-poles single-input/single-output second order plant. The proof of stability is based on the polytopic representation of the closed loop under Lyapunov conditions and system transformations. Finally, the effectiveness of the proposed method is verified via a numerical example

    Advanced Mathematics and Computational Applications in Control Systems Engineering

    Get PDF
    Control system engineering is a multidisciplinary discipline that applies automatic control theory to design systems with desired behaviors in control environments. Automatic control theory has played a vital role in the advancement of engineering and science. It has become an essential and integral part of modern industrial and manufacturing processes. Today, the requirements for control precision have increased, and real systems have become more complex. In control engineering and all other engineering disciplines, the impact of advanced mathematical and computational methods is rapidly increasing. Advanced mathematical methods are needed because real-world control systems need to comply with several conditions related to product quality and safety constraints that have to be taken into account in the problem formulation. Conversely, the increment in mathematical complexity has an impact on the computational aspects related to numerical simulation and practical implementation of the algorithms, where a balance must also be maintained between implementation costs and the performance of the control system. This book is a comprehensive set of articles reflecting recent advances in developing and applying advanced mathematics and computational applications in control system engineering

    XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja)

    Get PDF
    [Resumen] Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunidad de Automática de nuestro país. La presente edición permitirá dar visibilidad a los nuevos retos y resultados del ámbito, y su uso en un gran número de aplicaciones, entre otras, las energías renovables, la bioingeniería o la robótica asistencial. Además de la componente científica, que se ve reflejada en este libro de actas, las JA son un punto de encuentro de las diferentes generaciones de profesores, investigadores y profesionales, incluyendo la componente social que es de vital importancia. Esta edición 2022 de las JA se celebra en Logroño, capital de La Rioja, región mundialmente conocida por la calidad de sus vinos de Denominación de Origen y que ha asumido el desafío de poder ganar competitividad a través de la transformación verde y digital. Pero también por ser la cuna del castellano e impulsar el Valle de la Lengua con la ayuda de las nuevas tecnologías, entre ellas la Automática Inteligente. Los organizadores de estas JA, pertenecientes al Área de Ingeniería de Sistemas y Automática del Departamento de Ingeniería Eléctrica de la Universidad de La Rioja (UR), constituyen un pilar fundamental en el apoyo a la región para el estudio, implementación y difusión de estos retos. Esta edición, la primera en formato íntegramente presencial después de la pandemia de la covid-19, cuenta con más de 200 asistentes y se celebra a caballo entre el Edificio Politécnico de la Escuela Técnica Superior de Ingeniería Industrial y el Monasterio de Yuso situado en San Millán de la Cogolla, dos marcos excepcionales para la realización de las JA. Como parte del programa científico, dos sesiones plenarias harán hincapié, respectivamente, sobre soluciones de control para afrontar los nuevos retos energéticos, y sobre la calidad de los datos para una inteligencia artificial (IA) imparcial y confiable. También, dos mesas redondas debatirán aplicaciones de la IA y la implantación de la tecnología digital en la actividad profesional. Adicionalmente, destacaremos dos clases magistrales alineadas con tecnología de última generación que serán impartidas por profesionales de la empresa. Las JA también van a albergar dos competiciones: CEABOT, con robots humanoides, y el Concurso de Ingeniería de Control, enfocado a UAVs. A todas estas actividades hay que añadir las reuniones de los grupos temáticos de CEA, las exhibiciones de pósteres con las comunicaciones presentadas a las JA y los expositores de las empresas. Por último, durante el evento se va a proceder a la entrega del “Premio Nacional de Automática” (edición 2022) y del “Premio CEA al Talento Femenino en Automática”, patrocinado por el Gobierno de La Rioja (en su primera edición), además de diversos galardones enmarcados dentro de las actividades de los grupos temáticos de CEA. Las actas de las XLIII Jornadas de Automática están formadas por un total de 143 comunicaciones, organizadas en torno a los nueve Grupos Temáticos y a las dos Líneas Estratégicas de CEA. Los trabajos seleccionados han sido sometidos a un proceso de revisión por pares
    corecore