OUTPUT BASED INPUT SHAPING FOR OPTIMAL CONTROL OF SINGLE LINK FLEXIBLE MANIPULATOR

Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially when using various payloads. This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators. Output based filter (OBF) is designed using the signal output of the system and then incorporated with both linear quadratic regulator (LQR) and PID separately for position and residual vibration control. The Robustness of these control algorithms are tested by changing the payloads from 0g to30g, 50g and 70g in each case. Based on MATLAB simulation results and time response analysis, LQR-OBF outperformed the PID-OBF in both tracking and vibration reduction

Fuzzy Adaptive Setpoint Weighting Controller for WirelessHART Networked Control Systems

Gain range limitation of conventional proportional‐integral‐derivative (PID) controllers has made them unsuitable for application in a delayed environment. These controllers are also not suitable for use in a Wireless Highway Addressable Remote Transducer (WirelessHART) protocol networked control setup. This is due to stochastic network‐induced delay and uncertainties such as packet dropout. The use of setpoint weighting strategy has been proposed to improve the performance of the PID in such environments. However, the stochastic delay still makes it difficult to achieve optimal performance. This chapter proposes an adaptation to the setpoint weighting technique. The proposed approach will be used to adapt the setpoint weighting structure to variation in WirelessHART network‐induced delay through fuzzy inference. Result comparison of the proposed approach with both setpoint weighting and proportional‐integral (PI) control strategy shows improved setpoint tracking and load regulation. For the first‐, second‐ and third‐order systems considered, analysis of the results in the time domain shows that in terms of overshoot, undershoot, rise time, and settling times, the proposed approach outperforms both the setpoint weighting and the PI controller. The approach also shows faster recovery from disturbance effect

Robustness and Stability Analysis of a Predictive PI Controller in WirelessHART Network Characterised by Stochastic Delay

As control over wireless network in the industry is receives increasing attention, its application comes with challenges such as stochastic network delay. The PIDs are ill equipped to handle such challenges while the model based controllers are complex. A settlement between the two is the PPI controller. However, there is no certainty on its ability to preserve closed loop stability under such challenges. While classical robustness measures do not require extensive uncertainty modelling, they do not guarantee stability under simultaneous process and network delay variations. On the other hand, the model uncertainty measures tend to be conservative. Thus, this work uses extended complementary sensitivity function method which handles simultaneously those challenges. Simulation results shows that the PPI controller can guarantee stability even under model and delay uncertainties

HYBRID METAHEURISTICS ALGORITHM BASED CONTROLLERS FOR WIRELESSHART NETWORKED CONTROL SYSTEMS

Recent advances in wireless technology have led to the emergence of industry standards such as WirelessHART. However, using it for control comes with a key challenge of handling stochastic network delays capable of degrading control performance. To address this, commonly used simple PID could be employe

HYBRID METAHEURISTICS ALGORITHM BASED CONTROLLERS FOR WIRELESSHART NETWORKED CONTROL SYSTEMS

Recent advances in wireless technology have led to the emergence of industry standards such as WirelessHART. However, using it for control comes with a key challenge of handling stochastic network delays capable of degrading control performance. To address this, commonly used simple PID could be employe