A full order sliding mode tracking controller design for an electrohydraulic control system

Electrohydraulic control system are widely use in industry due to continuous operation, higher speed of response with fast motion etc. However, there is a drawback that it is difficult to control because of the highly nonlinear and parameters uncertainties. In this project, a Full Order Sliding Mode Controller is design to control the system. First, the mathematical model of the electrohydraulic servo control system is developed. Then the mathematic model will be transformed into state space representation for the purposed of designing the controller. The system will be treated as an uncertain system with bounded uncertainties where the bounded are assumed known. The proposed controller will be designed based on deterministic approach, such that the overall system is practically stable and tracks the desired trajectory in spite the uncertainties and nonlinearities present in the system. The performance and reliability of the proposal controller will be determined by performing extensive simulation using MATLAB/SIMULINK. Lastly, the performance of the controller is to be compared with Independent Joint Linear Control and advanced deterministic controller

Depth control of autonomous underwater vehicle using discrete time sliding mode controller

This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller

Stabilization of inverted pendulum system using discrete sliding mode control

This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR

A full order sliding mode tracking controller design for an electrohydraulic control system

Electrohydraulic control system are widely use in industry due to continuous operation, higher speed of response with fast motion etc. However, there is a drawback that it is difficult to control because of the highly nonlinear and parameters uncertainties. In this project, a Full Order Sliding Mode Controller is design to control the system. First, the mathematical model of the electrohydraulic servo control system is developed. Then the mathematic model will be transformed into state space representation for the purposed of designing the controller. The system will be treated as an uncertain system with bounded uncertainties where the bounded are assumed known. The proposed controller will be designed based on deterministic approach, such that the overall system is practically stable and tracks the desired trajectory in spite the uncertainties and nonlinearities present in the system. The performance and reliability of the proposal controller will be determined by performing extensive simulation using MATLAB/SIMULINK. Lastly, the performance of the controller is to be compared with Independent Joint Linear Control and advanced deterministic controller

Automatic Vehicle Access System Using Ultra-High Frequency RFID

Securing and monitoring the territory have become a big challenge for everyone as the number of vehicle users have increased.  The premise area must be secure with enforced entrances and exits. It should have an automated and efficient security and monitoring system. For this purpose, an automated vehicle access system with accurate and secure monitoring of vehicle entry and exit was developed with Graphical User Interface (GUI) and vehicle’s user database along with the prototype of Ultra-High Frequency RFID. The suitable configuration for the hardware prototype has also been evaluated to maximize the system’s capabilities. This system operates on frequencies from 400MHz to 950MHz and is performed at distances of 7 meters. The passive tag was attached to the various condition and sizes of the car. The result shows showed that the system was optimally performed with the speed of the vehicle up to 50 km/h, 7 m of reading range and a maximum 20% tinted windshield. The ideal angle for the reader is around 60áµ’ to 70áµ’ with 2 meters of mounting pole. For future improvement, it is suggested that the registered vehicle user data was linked with the official premise’s database and the data is saved in an off-site location (cloud storage). The GUI is also able to support more than 1 reader at a time depending on demand

Active Head Motion Compensation of TMS Robotic System Using Neuro-Fuzzy Estimation

Transcranial Magnetic Stimulation (TMS) allows neuroscientist to study human brain behaviour and also become an important technique for changing the activity of brain neurons and the functions they sub serve. However, conventional manual procedure and robotized TMS are currently unable to precisely position the TMS coil because of unconstrained subject’s head movement and excessive contact force between the coil and subject’s head. This paper addressed this challenge by proposing an adaptive neuro-fuzzy force control to enable low contact force with a moving target surface. A learning and adaption mechanism is included in the control scheme to improve position disturbance estimation. The results show the ability of the proposed force control scheme to compensate subject’s head motions while maintaining desired contact force, thus allowing for more accurate and repeatable TMS procedures

Tracking with multirate output feedback (MROF) based discrete sliding mode control

In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Most of the SMC control strategies are based on state feedback, however not all of the state feedbacks are available. The multirate output feedback (MROF) used output feedback, therefore the state are always available at any condition. The error state variable was added to the system to achieve reference tracking. The MROF was compared with discrete Proportional Integral Derivative (PID) and discrete Linear Quadratic Regulator (LQR)

AN EMPIRICAL FRAMEWORK FOR AUTOMATIC RED BLOOD CELL MORPHOLOGY IDENTIFICATION AND COUNTING

ABSTRACT In blood tests analysis identification of Red Blood Cell (RBC) morphology and count the RBC number is crucial to diagnose any symptoms of blood related disease. In current practice, such procedure is executed manually by a pathologist under light microscope. As the samples increased, manual inspection become laborious to the pathologist and since visual inspection is subjective, it might lead to variation to the assessed samples. To overcome such a problem, an automatic method is proposed by utilizing image processing procedure. Initially RBC regions are extracted from the background by using a global threshold method applied on a green channel colour image. Next, noise and holes in the RBCs are abolished by utilizing a morphological filter and connected component labelling. Following that, geometrical information of the RBCs' area is extracted to determine single and overlapping RBC region. The former region is further process to identify its morphology either normal or abnormal by using geometrical properties and Artificial Neural Network (ANN), while the latter will undergo cell estimation stage by using Circle Hough Transform (CHT) to estimate the number of individual cells. The proposed method has been tested on blood cell images and demonstrates a reliable and effective system for classifying normal/abnormal RBC and counting the RBC number by considering an overlapping constraint