Abstract: In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Abstract: This paper introduces a new method called ARPDC (Advanced Robust Parallel Distributed Compensation) for automatic control of nonlinear systems. This method improves a quality of robust control by interpolating of robust and optimal controller. The weight of each controller is determined by an original criteria function for model validity and disturbance appreciation. ARPDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy systems and Parallel Distributed Compensation (PDC) control scheme. The relaxed stability conditions of ARPDC control of nominal system have been derived. The advantages of presented method are demonstrated on the inverse pendulum benchmark problem. From comparison between three different controllers (robust, optimal and ARPDC) follows, that ARPDC control is almost optimal with the robustness close to the robust controller. The results indicate that ARPDC algorithm can be a good alternative not only for a robust control, but in some cases also to an adaptive control of nonlinear systems.
Abstract: This paper presents a systematic approach for designing Unified Power Flow Controller (UPFC) based supplementary damping controllers for damping low frequency oscillations in a single-machine infinite-bus power system. Detailed investigations have been carried out considering the four alternatives UPFC based damping controller namely modulating index of series inverter (mB), modulating index of shunt inverter (mE), phase angle of series inverter (δB ) and phase angle of the shunt inverter (δE ). The design problem of the proposed controllers is formulated as an optimization problem and Real- Coded Genetic Algorithm (RCGA) is employed to optimize damping controller parameters. Simulation results are presented and compared with a conventional method of tuning the damping controller parameters to show the effectiveness and robustness of the proposed design approach.
Abstract: The problem of robust fuzzy control for a class of
nonlinear fuzzy impulsive singular perturbed systems with
time-varying delay is investigated by employing Lyapunov functions.
The nonlinear delay system is built based on the well-known T–S
fuzzy model. The so-called parallel distributed compensation idea is
employed to design the state feedback controller. Sufficient conditions
for global exponential stability of the closed-loop system are derived
in terms of linear matrix inequalities (LMIs), which can be easily
solved by LMI technique. Some simulations illustrate the effectiveness
of the proposed method.
Abstract: This paper addresses the controller synthesis problem of discrete-time switched positive systems with bounded time-varying delays. Based on the switched copositive Lyapunov function approach, some necessary and sufficient conditions for the existence of state-feedback controller are presented as a set of linear programming and linear matrix inequality problems, hence easy to be verified. Another advantage is that the state-feedback law is independent on time-varying delays and initial conditions. A numerical example is provided to illustrate the effectiveness and feasibility of the developed controller.
Abstract: Design of an observer based controller for a class of
fractional order systems has been done. Fractional order mathematics
is used to express the system and the proposed observer. Fractional
order Lyapunov theorem is used to derive the closed-loop asymptotic
stability. The gains of the observer and observer based controller are
derived systematically using the linear matrix inequality approach.
Finally, the simulation results demonstrate validity and effectiveness
of the proposed observer based controller.
Abstract: This work presents a recursive identification algorithm. This algorithm relates to the identification of closed loop system with Variable Structure Controller. The approach suggested includes two stages. In the first stage a genetic algorithm is used to obtain the parameters of switching function which gives a control signal rich in commutations (i.e. a control signal whose spectral characteristics are closest possible to those of a white noise signal). The second stage consists in the identification of the system parameters by the instrumental variable method and using the optimal switching function parameters obtained with the genetic algorithm. In order to test the validity of this algorithm a simulation example is presented.
Abstract: An optimal control of Reverse Osmosis (RO) plant is
studied in this paper utilizing the auto tuning concept in conjunction
with PID controller. A control scheme composing an auto tuning
stochastic technique based on an improved Genetic Algorithm (GA) is
proposed. For better evaluation of the process in GA, objective
function defined newly in sense of root mean square error has been
used. Also in order to achieve better performance of GA, more
pureness and longer period of random number generation in operation
are sought. The main improvement is made by replacing the uniform
distribution random number generator in conventional GA technique
to newly designed hybrid random generator composed of Cauchy
distribution and linear congruential generator, which provides
independent and different random numbers at each individual steps in
Genetic operation. The performance of newly proposed GA tuned
controller is compared with those of conventional ones via simulation.
Abstract: This paper presents a fuzzy control system for a three degree of freedom (3-DOF) stabilized platform with explicit decoupling scheme. The system under consideration is a system with strong interactions between three channels. By using the concept of decentralized control, a control structure is developed that is composed of three control loops, each of which is associated with a single-variable fuzzy controller and a decoupling unit. Takagi-Sugeno (TS) fuzzy control algorithm is used to implement the fuzzy controller. The decoupling units design is based on the adaptive theory reasoning. Simulation tests were established using Simulink of Matlab. The obtained results have demonstrated the feasibility and effectiveness of the proposed approach. Simulation results are represented in this paper.
Abstract: The authors present optimization parameters of rotary
positioner controller in hard disk drive servo track writing process
using coefficient diagram method; CDM. Due to estimation
parameters in PI Positioning Control System by expected ratio
method cannot meet the required specification of response
effectively, we suggest coefficient diagram method for defining
controller parameters under the requirement of the system. Finally,
the simulation results show that our proposed method can improve
the problem in tuning parameter of rotary positioner controller. It is
satisfied specification of performance of control system. Furthermore,
it is very convenient as a fast adjustment damping ratio as well as a
high speed response.
Abstract: This paper presents the development and application of an adaptive neuro fuzzy inference system (ANFIS) based intelligent hybrid neuro fuzzy controller for automatic generation control (AGC) of two-area interconnected thermal power system with reheat non linearity. The dynamic response of the system has been studied for 1% step load perturbation in area-1. The performance of the proposed neuro fuzzy controller is compared against conventional proportional-integral (PI) controller, state feedback linear quadratic regulator (LQR) controller and fuzzy gain scheduled proportionalintegral (FGSPI) controller. Comparative analysis demonstrates that the proposed intelligent neuro fuzzy controller is the most effective of all in improving the transients of frequency and tie-line power deviations against small step load disturbances. Simulations have been performed using Matlab®.
Abstract: This paper presents an intelligent speed control
system based on fuzzy logic for a voltage source PWM inverter-fed
indirect vector controlled induction motor drive. Traditional indirect
vector control system of induction motor introduces conventional PI
regulator in outer speed loop; it is proved that the low precision of the
speed regulator debases the performance of the whole system. To
overcome this problem, replacement of PI controller by an intelligent
controller based on fuzzy set theory is proposed. The performance of
the intelligent controller has been investigated through digital
simulation using MATLAB-SIMULINK package for different
operating conditions such as sudden change in reference speed and
load torque. The simulation results demonstrate that the performance
of the proposed controller is better than that of the conventional PI
controller.
Abstract: In this paper, a field oriented control (FOC) induction motor drive is presented. In order to eliminate the speed sensor, an adaptation algorithm for tuning the rotor speed is proposed. Based on the Model Reference Adaptive System (MRAS) scheme, the rotor speed is tuned to obtain an exact FOC induction motor drive. The reference and adjustable models, developed in stationary stator reference frame, are used in the MRAS scheme to estimate induction rotor speed from measured terminal voltages and currents. The Integral Proportional (IP) gains speed controller are tuned by a modern approach that is the Particle Swarm Optimization (PSO) algorithm in order to optimize the parameters of the IP controller. The use of PSO as an optimization algorithm makes the drive robust, with faster dynamic response, higher accuracy and insensitive to load variation. The proposed algorithm has been tested by numerical simulation, showing the capability of driving load.
Abstract: This study presents an active vibration control
technique to reduce the earthquake responses of a retained structural
system. The proposed technique is a synthesis of the adaptive input
estimation method (AIEM) and linear quadratic Gaussian (LQG)
controller. The AIEM can estimate an unknown system input online.
The LQG controller offers optimal control forces to suppress
wall-structural system vibration. The numerical results show robust
performance in the active vibration control technique.
Abstract: The main goal of the study is to analyze all relevant
properties of the electro hydraulic systems and based on that to make
a proper choice of the control strategy that may be used for the
control of the servomechanism system. A combination of electronic
and hydraulic systems is widely used since it combines the
advantages of both. Hydraulic systems are widely spread because of
their properties as accuracy, flexibility, high horsepower-to-weight
ratio, fast starting, stopping and reversal with smoothness and
precision, and simplicity of operations. On the other hand, the
modern control of hydraulic systems is based on control of the circuit
fed to the inductive solenoid that controls the position of the
hydraulic valve. Since this circuit may be easily handled by PWM
(Pulse Width Modulation) signal with a proper frequency, the
combination of electrical and hydraulic systems became very fruitful
and usable in specific areas as airplane and military industry.
The study shows and discusses the experimental results obtained
by the control strategy (classical feedback (PID) & neural network)
using MATLAB and SIMULINK [1]. Finally, the special attention
was paid to the possibility of neuro-controller design and its
application to control of electro-hydraulic systems and to make
comparative with classical control.
Abstract: Wheel-running type moving robot has the restriction
on the moving range caused by obstacles or stairs. Solving this
weakness, we studied the development of moving robot using airship.
Our airship robot moves by recognizing arrow marks on the path. To
have the airship robot recognize arrow marks, we used edge-based
template matching. To control propeller units, we used PID and PD
controller. The results of experiments demonstrated that the airship
robot can move along the marks and can go up and down the stairs. It is
shown the possibility that airship robot can become a robot which can
move at wide range facilities.
Abstract: The aim of this study is to develop a cost-effective WBGT heat stress monitor which provides precise heat stress measurement. The proposed device employs SHT15 and DS18B20 as a temperature and humidity sensors, respectively, incorporating with ATmega328 microcontroller. The developed heat stress monitor was calibrated and adjusted to that of the standard temperature and humidity sensors in the laboratory. The results of this study illustrated that the mean percentage error and the standard deviation from the measurement of the globe temperature was 2.33 and 2.71 respectively, while 0.94 and 1.02 were those of the dry bulb temperature, 0.79 and 0.48 were of the wet bulb temperature, and 4.46 and 1.60 were of the relative humidity sensor. This device is relatively low-cost and the measurement error is acceptable.
Abstract: The optimal design of PI controller for Automatic Generation Control in two area is presented in this paper. The concept of Dual mode control is applied in the PI controller, such that the proportional mode is made active when the rate of change of the error is sufficiently larger than a specified limit otherwise switched to the integral mode. A digital simulation is used in conjunction with the Hooke-Jeeve’s optimization technique to determine the optimum parameters (individual gain of proportional and integral controller) of the PI controller. Integrated Square of the Error (ISE), Integrated Time multiplied by Absolute Error(ITAE) , and Integrated Absolute Error(IAE) performance indices are considered to measure the appropriateness of the designed controller. The proposed controller are tested for a two area single nonreheat thermal system considering the practical aspect of the problem such as Deadband and Generation Rate Constraint(GRC). Simulation results show that dual mode with optimized values of the gains improved the control performance than the commonly used Variable Structure .
Abstract: In this paper by using the port-controlled Hamiltonian
(PCH) systems theory, a full-order nonlinear controlled model is first
developed. Then a nonlinear passivity-based robust adaptive control
(PBRAC) of switched reluctance motor in the presence of external
disturbances for the purpose of torque ripple reduction and
characteristic improvement is presented. The proposed controller
design is separated into the inner loop and the outer loop controller.
In the inner loop, passivity-based control is employed by using
energy shaping techniques to produce the proper switching function.
The outer loop control is employed by robust adaptive controller to
determine the appropriate Torque command. It can also overcome the
inherent nonlinear characteristics of the system and make the whole
system robust to uncertainties and bounded disturbances. A 4KW 8/6
SRM with experimental characteristics that takes magnetic saturation
into account is modeled, simulation results show that the proposed
scheme has good performance and practical application prospects.
Abstract: This paper presents the approach to design the Auto-
Tuning PID controller for interactive Water Level Process using
integral step response. The Integral Step Response (ISR) is the
method to model a dynamic process which can be done easily,
conveniently and very efficiently. Therefore this method is advantage
for design the auto tune PID controller. Our scheme uses the root
locus technique to design PID controller. In this paper MATLAB is
used for modeling and testing of the control system. The
experimental results of the interacting water level process can be
satisfyingly illustrated the transient response and the steady state
response.