Search results for: micro controller

Authors: Azam Salimi, Majid Delshad

Abstract:

This paper presents a modified design of a sliding mode controller based on fuzzy logic for a New ZVThigh step up DC-DC Converter . Here a proportional - integral (PI)-type current mode control is employed and a sliding mode controller is designed utilizing fuzzy algorithm. Sliding mode controller guarantees robustness against all variations and fuzzy logic helps to reduce chattering phenomenon due to sliding controller, in that way efficiency increases and error, voltage and current ripples decreases. The proposed system is simulated using MATLAB / SIMULINK. This model is tested under variations of input and reference voltages and it was found that in comparison with conventional sliding mode controllers they perform better.

Keywords: switching mode power supplies, DC-DC converters, sliding mode control, robustness, fuzzy control, current mode control, non-linear behavior

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Authors: Yang Li, Xiaorong Guan, Cheng Xu

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In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme with traditional PI controller was presented, and the simulation study of the electromechanical system of the human extremity exoskeleton was carried out by using a MATLAB/Simulink module. By analyzing the simulation calculation results, it was shown that the traditional PI controller is not very suitable for every movement speed of human body. So, at last the fuzzy self-adaptive PI controller was presented to solve this problem. Eventually, the superiority and feasibility of the fuzzy self-adaptive PI controller was proved by the simulation results and experimental results.

Keywords: human extremity exoskeleton, interaction force control scheme, simulation study, fuzzy self-adaptive pi controller, man-machine coordinated walking, bear payload

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Authors: Shiuh-Jer Huang, Shin-Ham Lee, Sheam-Chyun Lin

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A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.

Keywords: balance control, synchronization control, two-wheel inverted pendulum, TWIP

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Authors: Roya Ahmadi Ahangar, Hamid Madadyari

Abstract:

The seeker optimization algorithm (SOA) is increasingly gaining popularity among the researchers society due to its effectiveness in solving some real-world optimization problems. This paper provides the load-frequency control method based on the SOA for removing oscillations in the power system. A three-zone power system includes a thermal zone, a hydraulic zone and a wind zone equipped with robust proportional-integral-differential (PID) controllers. The result of simulation indicates that load-frequency changes in the wind zone for the multi-zone system are damped in a short period of time. Meanwhile, in the oscillation period, the oscillations amplitude is not significant. The result of simulation emphasizes that the PID controller designed using the seeker optimization algorithm has a robust function and a better performance for oscillations damping compared to the traditional PID controller. The proposed controller’s performance has been compared to the performance of PID controller regulated with Particle Swarm Optimization (PSO) and. Genetic Algorithm (GA) and Artificial Bee Colony (ABC) algorithms in order to show the superior capability of the proposed SOA in regulating the PID controller. The simulation results emphasize the better performance of the optimized PID controller based on SOA compared to the PID controller optimized with PSO, GA and ABC algorithms.

Keywords: load-frequency control, multi zone, robust PID controller, wind generation

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Authors: Mehrdad Rezaei, Reza Haghmaram, Nima Amjadi

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This paper proposes an operating and cost optimization model for micro-grid (MG). This model takes into account emission costs of NOx, SO2, and CO2, together with the operation and maintenance costs. Wind turbines (WT), photovoltaic (PV) arrays, micro turbines (MT), fuel cells (FC), diesel engine generators (DEG) with different capacities are considered in this model. The aim of the optimization is minimizing operation cost according to constraints, supply demand and safety of the system. The proposed genetic algorithm (GA), with the ability to fine-tune its own settings, is used to optimize the micro-grid operation.

Keywords: micro-grid, optimization, genetic algorithm, MG

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Authors: Jihoon Lim, Patrick Kirchen, Ryozo Nagamune

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This paper proposes a linear parameter-varying (LPV) controller capable of reducing nitrogen oxide (NOx) emissions with low ammonia (NH3) slip downstream of selective catalytic reduction (SCR) systems. SCR systems are widely adopted in diesel engines due to high NOx conversion efficiency. However, the nonlinearity of the SCR system and sensor uncertainty result in a challenging control problem. In order to overcome the control challenges, an LPV controller is proposed based on gain-scheduling parameters, that is, exhaust gas temperature and exhaust gas flow rate. Based on experimentally obtained data under the non-road transient driving cycle (NRTC), the simulations firstly show that the proposed controller yields high NOx conversion efficiency with a desired low NH3 slip. The performance of the proposed LPV controller is then compared with other controllers, including a gain-scheduling PID controller and a sliding mode controller. Additionally, the robustness is also demonstrated using the uncertainties ranging from 10 to 30%. The results show that the proposed controller is robustly stable under uncertainties.

Keywords: diesel engine, gain-scheduling control, linear parameter-varying, selective catalytic reduction

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Authors: Le Hieu Giang, Truong Nguyen Luan Vu, Le Linh

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In this paper, the analytical tuning rules of IMC-PID controller are presented for the multivariable Smith predictor that involved the ideal decoupling. Accordingly, the decoupler is first introduced into the multivariable Smith predictor control system by a well-known approach of ideal decoupling, which is compactly extended for general nxn multivariable processes and the multivariable Smith predictor controller is then obtained in terms of the multiple single-loop Smith predictor controllers. The tuning rules of PID controller in series with filter are found by using Maclaurin approximation. Many multivariable industrial processes are employed to demonstrate the simplicity and effectiveness of the presented method. The simulation results show the superior performances of presented method in compared with the other methods.

Keywords: ideal decoupler, IMC-PID controller, multivariable smith predictor, Padé approximation

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Authors: Khelfaoui Rachid, Chekifi Tawfiq, Dennai Brahim, Maazouzi A. Hak

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A numerical and experimental studies of passive micro drops production have been presented. This paper focuses on the modeling of micro-oscillators systems which are composed by passive amplifier without moving part. The micro-system modeling is based on geometrical oscillators form. An asymmetric micro-oscillator design that is based on a bistable fluidic amplifier is proposed. The characteristic size of the channels is generally about 35 microns of depth. The numerical results indicate that the production and manipulation of microdrops are possible with passive device within a typical oscillators chamber of 2.25 mm diameter and 0.20 mm length when the Reynolds number is Re = 490. The novel micro drops method that is presented in this study provides a simple solution about the production of microdrops problems in micro system. We undertake an experimental step. The first part is based on the realisation of sample oscillator; the second part is consisted of visualization, production and manipulation of microdrops.

Keywords: modelling, miscible, micro drops, production, oscillator sample, capillary

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Authors: Mert Turanli, Hakan Temeltas

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In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.

Keywords: adaptive control, centroidal voronoi tessellations, composite adaptation, coordination, multi robots

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Authors: Mohamed A. Moustafa Hassan, Omnia S .S. Hussian, Hany M. Elsaved

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This paper introduces the application of Fuzzy Logic Controller (FLC) to extract the Maximum Power Point Tracking (MPPT) from the PV panel. In addition, the proportional integral (PI) controller is used to be the strategy for battery charge control according to acceptable performance criteria. The parameters of the PI controller have been tuned via Modified Adaptive Accelerated Coefficient Particle Swarm Optimization (MAACPSO) technique. The simulation results, using MATLAB/Simulink tools, show that the FLC technique has advantages for use in the MPPT problem, as it provides a fast response under changes in environmental conditions such as radiation and temperature. In addition, the use of PI controller based on MAACPSO results in a good performance in terms of controlling battery charging with constant voltage and current to execute rapid charging.

Keywords: battery charging, fuzzy logic control, maximum power point tracking, PV system, PI controller, evolutionary technique

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Authors: M. R. Vaezi, R. Ghasemi, A. Akramizadeh

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Frequency stability of microgrids under islanded operation attracts particular attention recently. A new cooperative frequency control strategy based on centralized multi-agent system (CMAS) is proposed in this study. On this strategy, agents sent data and furthermore each component has its own to center operating decisions (MGCC). After deciding on the information, they are returned. Frequency control strategies include primary and secondary frequency control and disposal of multi-stage load in which this study will also provide a method and algorithm for load shedding. This could also be a big problem for the performance of micro-grid in times of disaster. The simulation results show the promising performance of the proposed structure of the controller based on multi agent systems.

Keywords: frequency control, islanded microgrid, multi-agent system, load shedding

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Authors: Deepak M. Sajnekar, S. B. Deshpande, R. M. Mohril

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At present many rotary excitation control system are using analog type of Automatic Voltage Regulator which now started to replace with the digital automatic voltage regulator which is provided with PID controller and tuning of PID controller is a challenging task. The cases where digital excitation control system is used tuning of PID controller are still carried out by pole placement method. Tuning of PID controller used for static excitation control system is not challenging because it does not involve exciter time constant. This paper discusses two methods of tuning PID controller i.e. Pole placement method and pole zero cancellation method. GUI prepared for both the methods on the platform of MATLAB. Using this GUI, performance results and time required for tuning for both the methods are compared. Sensitivity of the methods is also presented with parameter variation like loop gain ‘K’ and exciter time constant ‘te’.

Keywords: digital excitation system, automatic voltage regulator, pole placement method, pole zero cancellation method

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Authors: Jin-Siang Shaw, Patricia Moya Caceres, Sheng-Xiang Xu

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This paper aims to integrate the particle swarm optimization (PSO) method with the adaptive fuzzy sliding mode controller (AFSMC) to achieve vibration attenuation in a piezoelectric actuator subject to base excitation. The piezoelectric actuator is a complicated system made of ferroelectric materials and its performance can be affected by nonlinear hysteresis loop and unknown system parameters and external disturbances. In this study, an adaptive fuzzy sliding mode controller is proposed for the vibration control of the system, because the fuzzy sliding mode controller is designed to tackle the unknown parameters and external disturbance of the system, and the adaptive algorithm is aimed for fine-tuning this controller for error converging purpose. Particle swarm optimization method is used in order to find the optimal controller parameters for the piezoelectric actuator. PSO starts with a population of random possible solutions, called particles. The particles move through the search space with dynamically adjusted speed and direction that change according to their historical behavior, allowing the values of the particles to quickly converge towards the best solutions for the proposed problem. In this paper, an initial set of controller parameters is applied to the piezoelectric actuator which is subject to resonant base excitation with large amplitude vibration. The resulting vibration suppression is about 50%. Then PSO is applied to search for an optimal controller in the neighborhood of this initial controller. The performance of the optimal fuzzy sliding mode controller found by PSO indeed improves up to 97.8% vibration attenuation. Finally, adaptive version of fuzzy sliding mode controller is adopted for further improving vibration suppression. Simulation result verifies the performance of the adaptive controller with 99.98% vibration reduction. Namely the vibration of the piezoelectric actuator subject to resonant base excitation can be completely annihilated using this PSO based adaptive fuzzy sliding mode controller.

Keywords: adaptive fuzzy sliding mode controller, particle swarm optimization, piezoelectric actuator, vibration suppression

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Authors: Yousfi Abdelkader, Chaker Abdelkader, Bot Youcef

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This article proposes a five-level shunt active power filter for power quality improvement using a interval type-2 fuzzy logic controller (IT2 FLC). The reference compensating current is extracted using the P-Q theory. The majority of works previously reported are based on two-level inverters with a conventional Proportional integral (PI) controller, which requires rigorous mathematical modeling of the system. In this paper, a IT2 FLC controlled five-level active power filter is proposed to overcome the problem associated with PI controller. The IT2 FLC algorithm is applied for controlling the DC-side capacitor voltage as well as the harmonic currents of the five-level active power filter. The active power filter with a IT2 FLC is simulated in MATLAB Simulink environment. The simulated response shows that the proposed shunt active power filter controller has produced a sinusoidal supply current with low harmonic distortion and in phase with the source voltage.

Keywords: power quality, shunt active power filter, interval type-2 fuzzy logic controller (T2FL), multilevel inverter

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Authors: Zhen Qin, Yufei Peng, Jianbei Li, Jidong Long

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In order to study the activity of the coated aluminate barium-tungsten cathodes during activation, aging, poisoning and long-term use. Through a set of hot-cathode micro-area emission uniformity study device, we tested the micro-area emission performance of the cathode under different conditions. The change of activity of cathode micro-area was obtained. The influence of micro-area activity on the performance of the cathode was explained by the ageing model of barium-tungsten cathode. This helps to improve the design and process of the cathode and can point the way in finding the factors that affect life in the cathode operation.

Keywords: barium-tungsten cathode, ageing model, micro-area emission, emission uniformity

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Authors: Pasala Gopi, P. Linga Reddy

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The response of the load frequency control problem in an multi-area interconnected electrical power system is much more complex with increasing size, changing structure and increasing load. This paper deals with Load Frequency Control of three area interconnected Power system incorporating Reheat, Non-reheat and Reheat turbines in all areas respectively. The response of the load frequency control problem in an multi-area interconnected power system is improved by designing PID controller using different tuning techniques and proved that the PID controller which was designed by Simulink Design Optimization (SDO) Software gives the superior performance than other controllers for step perturbations. Finally the robustness of controller was checked against system parameter variations

Keywords: load frequency control, pid controller tuning, step load perturbations, inter connected power system

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Authors: Zelikha Labbani

Abstract:

The In Vitro isolated micro spore culture is the most powerful androgenic pathway to produce doubled haploid plants in the short time. To deviate a micro spore toward embryogenesis, a number of factors, different for each species, must concur at the same time and place. Once induced, the micro spore undergoes numerous changes at different levels, from overall morphology to gene expression. Induction of micro spore embryogenesis not only implies the expression of an embryogenic program, but also a stress-related cellular response and a repression of the gametophytic program to revert the microspore to a totipotent status. As haploid single cells, micro spore became a strategy to achieve various objectives particularly in genetic engineering. In this study we would show the most recent advances in the producing haploid embryos via In Vitro isolated micro spore culture.

Keywords: haploid cells, In Vitro isolated microspore culture, success

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Authors: Mohammad Tahmasebipour, Hosein Salarpour

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Micro cantilevers are one of the components used in the manufacture of micro-electromechanical systems. Epoxy microcantilevers have a variety of applications in the manufacture of micro-sensors and micro-actuators. In this paper, the Timoshenko Micro cantilever was statically and dynamically analyzed using the finite element method. First, all boundary conditions and initial conditions governing micro cantilevers were considered. The effect of size on the deflection, angle of rotation, natural frequencies, and mode shapes were then analyzed and evaluated under different frequencies. It was observed that an increased micro cantilever thickness reduces the deflection, rotation, and resonant frequency. A good agreement was observed between our results and those obtained by the couple stress theory, the classical theory, and the strain gradient elasticity theory.

Keywords: microcantilever, microsensor; epoxy, dynamic behavior, static behavior, finite element method

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Authors: Ayad Al-Mahturi, Herman Wahid

Abstract:

This paper presents an optimal state feedback controller based on Linear Quadratic Regulator (LQR) for a two-rotor aero-dynamical system (TRAS). TRAS is a highly nonlinear multi-input multi-output (MIMO) system with two degrees of freedom and cross coupling. There are two parameters that define the behavior of LQR controller: state weighting matrix and control weighting matrix. The two parameters influence the performance of LQR. Particle Swarm Optimization (PSO) is proposed to optimally tune weighting matrices of LQR. The major concern of using LQR controller is to stabilize the TRAS by making the beam move quickly and accurately for tracking a trajectory or to reach a desired altitude. The simulation results were carried out in MATLAB/Simulink. The system is decoupled into two single-input single-output (SISO) systems. Comparing the performance of the optimized proportional, integral and derivative (PID) controller provided by INTECO, results depict that LQR controller gives a better performance in terms of both transient and steady state responses when PSO is performed.

Keywords: LQR controller, optimal control, particle swarm optimization (PSO), two rotor aero-dynamical system (TRAS)

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Authors: Aziz Sezgin, Yuksel Hacioglu, Nurkan Yagiz

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Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mode controller was designed that has taken into account the actuator time delay by using Smith predictor. The successful performance of the designed controller is confirmed via numerical results.

Keywords: sliding mode control, active suspension system, actuator, time delay, vehicle

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Authors: Benyamina, Ouldabess, Bensalah

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The aim of this study is to use membrane technique for filtration of a coloring solution. the preparation of the micro-filtration membranes is based on a natural clay powder with a low cost, deposited on macro-porous ceramic supports. The micro-filtration membrane provided a very large permeation flow. Indeed, the filtration effectiveness of membrane was proved by the total discoloration of bromothymol blue solution with initial concentration of 10-3 mg/L after the first minutes.

Keywords: the inorganic membrane, micro-filtration, coloring solution, natural clay powder

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Authors: Tohid Rahimi, Yahya Naderi, Babak Yousefi, Seyed Hossein Hoseini

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Today’s modern interconnected power system is highly complex in nature. In this, one of the most important requirements during the operation of the electric power system is the reliability and security. Power and frequency oscillation damping mechanism improve the reliability. Because of power system stabilizer (PSS) low speed response against of major fault such as three phase short circuit, FACTs devise that can control the network condition in very fast time, are becoming popular. However, FACTs capability can be seen in a major fault present when nonlinear models of FACTs devise and power system equipment are applied. To realize this aim, the model of multi-machine power system with FACTs controller is developed in MATLAB/SIMULINK using Sim Power System (SPS) blockiest. Among the FACTs device, Static synchronous series compensator (SSSC) due to high speed changes its reactance characteristic inductive to capacitive, is effective power flow controller. Tuning process of controller parameter can be performed using different method. However, Genetic Algorithm (GA) ability tends to use it in controller parameter tuning process. In this paper, firstly POD controller is used to power oscillation damping. But in this station, frequency oscillation dos not has proper damping situation. Therefore, FOD controller that is tuned using GA is using that cause to damp out frequency oscillation properly and power oscillation damping has suitable situation.

Keywords: power oscillation damping (POD), frequency oscillation damping (FOD), Static synchronous series compensator (SSSC), Genetic Algorithm (GA)

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Authors: Jung-Min Yang

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A method of tolerating input faults for input/state asynchronous sequential machines is proposed. A corrective controller is placed in front of the considered asynchronous machine to realize model matching with a reference model. The value of the external input transmitted to the closed-loop system may change by fault. We address the existence condition for the controller that can counteract adverse effects of any input fault while maintaining the objective of model matching. A design procedure for constructing the controller is outlined. The proposed reachability condition for the controller design is validated in an illustrative example.

Keywords: asynchronous sequential machines, corrective control, fault tolerance, input faults, model matching

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Authors: Ahmad N. Shuid, Azri Jalil, Sabarul A. Mokhtar, Mohd F. Khamis, Norliza Muhammad

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Micro-CT provides a 3-D image of fracture callus, which can be used to calculate quantitative parameters. In this study, micro-CT was used to assess the fracture healing of orchidectomised rats, an androgen-deficient osteoporosis model. The effect of testosterone (hormone replacement) on fracture healing was also assessed with micro-CT. The rats were grouped into orchidectomised-control (ORX), sham-operated (SHAM), and orchidectomised; and injected with testosterone intramuscularly once weekly (TEN). Treatment duration was six weeks. The fracture was induced and fixed with plates and screws in the right tibia of all the rats. An in vitro micro-CT was used to scan the fracture callus area which consisted of 100 axial slices above and below fracture line. The analysis has shown that micro-CT was able to detect a significant difference in the fracture healing rate of ORX and TEN groups. In conclusion, micro-CT can be used to assess fracture healing in androgen-deficient osteoporosis. This imaging tool can be used to test agents that influence fracture healing in the androgen-deficient model.

Keywords: androgen, fracture, orchidectomy, osteoporosis

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Authors: M. Naveed Iqbal, Sheza Fatima, Noman Shabbir

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In the presence of energy crisis in Pakistan, off-grid remote areas are not on priority list. The use of new large scale coal fired power plants will also make this situation worst. Therefore, the greatest challenge in our society is to explore new ways to power off grid remote areas with renewable energy sources. It is time for a sustainable energy policy which puts consumers, the environment, human health, and peace first. The renewable energy is one of the biggest growing sectors of the energy industry. Therefore, the large scale use of micro grid is thus described here with modeling, simulation, planning and operating of the micro grid. The goal of this research paper is to go into detail of a library of major components of micro grid. The introduction will go through the detail view of micro grid definition. Then, the simulation of Micro Grid in MATLAB/ Simulink including the Photo Voltaic Cell will be described with the detailed modeling. The simulation with the design and modeling will be introduced too.

Keywords: micro grids, distribution generation, PV, off-grid operations

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Authors: Brahim Dennai, Abdelhak Bentaleb, Rachid Khelfaoui, Asma Abdenbi

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The diffusion flux given by the Fick’s law characterizethe mixing rate. A passive mixing strategy is proposed to enhance mixing of two fluids through perturbed jet low. A numerical study of passive mixers has been presented. This paper is focused on the modeling of a micro-injection systems composed of passive amplifier without mechanical part. The micro-system modeling is based on geometrical oscillators form. An asymmetric micro-oscillator design based on a monostable fluidic amplifier is proposed. The characteristic size of the channels is generally about a few hundred of microns. The numerical results indicate that the mixing performance can be as high as 99 % within a typical mixing chamber of 0.20 mm diameter inlet and 2.0 mm distance of nozzle - spliter. In addition, the results confirm that self-rotation in the circular mixer significantly enhances the mixing performance. The novel micro mixing method presented in this study provides a simple solution to mixing problems in microsystem for application in chemistry.

Keywords: micro oscillator, modeling, micro mixture, diffusion, size effect, chemical equation

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Authors: Ahmad Forouzantabar, Mohammad Azadi

Abstract:

This paper presents sliding mode controller for bilateral teleoperation systems with robotic master and slave under constant communication delays. We extend the passivity-based coordination architecture to enhance position and force tracking in the presence of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of master and slave robots and improve both position and force tracking. Using the Lyapunov theory, the boundedness of master- slave tracking errors and the stability of the teleoperation system are also guaranteed. Numerical simulations show that proposed controller position and force tracking performances are superior to that of conventional coordination controller tracking performances.

Keywords: Lyapunov stability, teleoperation system, time delay, sliding mode controller

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Authors: Vaibhav Singh Rajput, Ravi Kumar Jatoth, Nagu Bhookya, Bhasker Boda

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In this paper proportional, integral, derivative (PID) controller is used to control the pitch angle of the aircraft when the elevation angle is changed or modified. The pitch angle is dependent on elevation angle; a change in one corresponds to a change in the other. The PID controller helps in restricted change of pitch rate in response to the elevation angle. The PID controller is dependent on different parameters like Kp, Ki, Kd which change the pitch rate as they change. Various methodologies are used for changing those parameters for getting a perfect time response pitch angle, as desired or wished by a concerned person. While reckoning the values of those parameters, trial and guessing may prove to be futile in order to provide comfort to passengers. So, using some metaheuristic techniques can be useful in handling these errors. Hybrid GA-PSO is one such powerful algorithm which can improve transient and steady state response and can give us more reliable results for PID gain scheduling problem.

Keywords: pitch rate, elevation angle, PID controller, genetic algorithm, particle swarm optimization, phugoid

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Authors: Seungwoo Kim, Yeongcheol Cho

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In this paper, a holonomic mobile robot is designed in omnidirectional wheels and an adaptive fuzzy controller is presented for its precise trajectories. A kind of adaptive controller based on fuzzy multi-layered algorithm is used to solve the big parametric uncertainty of motor-controlled dynamic system of 3-wheels omnidirectional mobile robot. The system parameters such as a tracking force are so time-varying due to the kinematic structure of omnidirectional wheels. The fuzzy adaptive control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system. Finally, the good performance of a holonomic mobile robot is confirmed through live tests of the tracking control task.

Keywords: fuzzy adaptive control, fuzzy multi-layered controller, holonomic mobile robot, omnidirectional wheels, robustness and stability.

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Authors: Fatemeh Behbahani, Rubiyah Yusof

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To avoid collision between following vehicles and vehicles in front, it is vital to keep appropriate, safe spacing between both vehicles over all speeds. Therefore, the following vehicle needs to have exact information regarding the speed and spacing between vehicles. This project is conducted to simulate the tuning of controller gain for a vehicle-following system through the selected control strategy, spacing control policy and fixed-time headway policy. In addition, the paper simulates and designs an adaptive gain controller for a road-vehicle-following system which uses information on the spacing, velocity and also acceleration of a preceding vehicle in the proposed one-vehicle look-ahead strategy. The mathematical model is implemented using Kirchhoff and Newton’s Laws, and stability simulated. The trial-error method was used to obtain a suitable value of controller gain. However, the adaptive-based controller system was able to optimize the gain value automatically. Model Reference Adaptive Control (MRAC) is designed and utilized and based on firstly the Gradient and secondly the Lyapunov approach. The Lyapunov approach considers stability. The Gradient approach was found to improve the best value of gain in the controller system with fixed-time headway.

Keywords: one-vehicle look-ahead, model reference adaptive, stability, tuning gain controller, MRAC

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