Search results for: output feedback Controller.
2024 Adaptive Impedance Control for Unknown Non-Flat Environment
Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura
Abstract:
This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived easily. The force error feedback is utilized in the estimation and the accurate knowledge of the environment parameters are not required by the algorithm. It is shown mathematically that the stability of the controller is guaranteed based on Lyapunov theory. Simulation results presented to demonstrate the validity of the proposed controller.Keywords: Adaptive impedance control, Function Approximation Technique (FAT), impedance control, unknown environment position.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15632023 System Identification and Control the Azimuth Angle of the Platform of MLRS by PID Controller
Authors: Parkpoom Ch., Narongkorn D.
Abstract:
This paper presents the system identification by physical-s law method and designs the controller for the Azimuth Angle Control of the Platform of the Multi-Launcher Rocket System (MLRS) by Root Locus technique. The plant mathematical model was approximated using MATLAB for simulation and analyze the system. The controller proposes the implementation of PID Controller using Programmable Logic Control (PLC) for control the plant. PID Controllers are widely applicable in industrial sectors and can be set up easily and operate optimally for enhanced productivity, improved quality and reduce maintenance requirement. The results from simulation and experiments show that the proposed a PID Controller to control the elevation angle that has superior control performance by the setting time less than 12 sec, the rise time less than 1.6 sec., and zero steady state. Furthermore, the system has a high over shoot that will be continue development.Keywords: Azimuth angle control, PID Controller, The platform of Multi-Launcher Rocket System.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24722022 Improved Simultaneous Performance in the Time Domain and in the Frequency Domain
Authors: Azeddine Ghodbane, David Bensoussan, Maher Hammami
Abstract:
In this study, we introduce an alternative adaptive architecture that enhances both time and frequency performance, helpfully mitigating the effects of disturbances from the input plant and external disturbances affecting the output. To facilitate superior performance in both the time and frequency domains, we have developed a user-friendly interactive design methods using the GeoGebra platform.
Keywords: Control theory, decentralized control, sensitivity theory, input-output stability theory, robust multivariable feedback control design.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1532021 Hybrid Markov Game Controller Design Algorithms for Nonlinear Systems
Abstract:
Markov games can be effectively used to design controllers for nonlinear systems. The paper presents two novel controller design algorithms by incorporating ideas from gametheory literature that address safety and consistency issues of the 'learned' control strategy. A more widely used approach for controller design is the H∞ optimal control, which suffers from high computational demand and at times, may be infeasible. We generate an optimal control policy for the agent (controller) via a simple Linear Program enabling the controller to learn about the unknown environment. The controller is facing an unknown environment and in our formulation this environment corresponds to the behavior rules of the noise modeled as the opponent. Proposed approaches aim to achieve 'safe-consistent' and 'safe-universally consistent' controller behavior by hybridizing 'min-max', 'fictitious play' and 'cautious fictitious play' approaches drawn from game theory. We empirically evaluate the approaches on a simulated Inverted Pendulum swing-up task and compare its performance against standard Q learning.Keywords: Fictitious Play, Cautious Fictitious Play, InvertedPendulum, Controller, Markov Games, Mobile Robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14162020 PID Controller Design for Following Control of Hard Disk Drive by Characteristic Ratio Assignment Method
Authors: Chaoraingern J., Trisuwannawat T., Numsomran A.
Abstract:
The author present PID controller design for following control of hard disk drive by characteristic ratio assignment method. The study in this paper concerns design of a PID controller which sufficiently robust to the disturbances and plant perturbations on following control of hard disk drive. Characteristic Ratio Assignment (CRA) is shown to be an efficient control technique to serve this requirement. The controller design by CRA is based on the choice of the coefficients of the characteristic polynomial of the closed loop system according to the convenient performance criteria such as equivalent time constant and ration of characteristic coefficient. Hence, in this study, CRA method is applied in PID controller design for following control of hard disk drive. Matlab simulation results shown that CRA design is fairly stable and robust whilst giving the convenience in controller-s parameters adjustment.Keywords: Following Control, Hard Disk Drive, PID, CRA
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19462019 Combined Model Predictive Controller Technique for Enhancing NAO Gait Stabilization
Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman
Abstract:
The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.Keywords: Preview control, walking, stabilization, humanoid robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5752018 Teacher Talk and Language Output
Authors: Haiyan Wang
Abstract:
As an important input and teaching media in foreign language teaching classes, teacher talk (TT) has a great effect on language output. This paper explores the problems related to teacher talk (TT) and language output in practical ELT (English Language Teaching) classroom and presents some suggestions for solving the problems which affect learner' effective language output.
Keywords: Second language acquisition, teacher talk, language output.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28922017 Design of Optimal Proportional Integral Derivative Attitude Controller for an Uncoupled Flexible Satellite Using Particle Swarm Optimization
Authors: Martha C. Orazulume, Jibril D. Jiya
Abstract:
Flexible satellites are equipped with various appendages which vibrate under the influence of any excitation and make the attitude of the satellite to be unstable. Therefore, the system must be able to adjust to balance the effect of these appendages in order to point accurately and satisfactorily which is one of the most important problems in satellite design. Proportional Integral Derivative (PID) Controller is simple to design and computationally efficient to implement which is used to stabilize the effect of these flexible appendages. However, manual turning of the PID is time consuming, waste energy and money. Particle Swarm Optimization (PSO) is used to tune the parameters of PID Controller. Simulation results obtained show that PSO tuned PID Controller is able to re-orient the spacecraft attitude as well as dampen the effect of mechanical resonance and yields better performance when compared with manually tuned PID Controller.
Keywords: Attitude control, flexible satellite, particle swarm optimization, PID controller.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12562016 Low-MAC FEC Controller for JPEG2000 Image Transmission Over IEEE 802.15.4
Authors: Kyu-Yeul Wang, Sang-Seol Lee, Jea-Yeon Song, Jea-Young Choi, Seong-Seob Shin, Dong-Sun Kim, Duck-Jin Chung
Abstract:
In this paper, we propose the low-MAC FEC controller for practical implementation of JPEG2000 image transmission using IEEE 802.15.4. The proposed low-MAC FEC controller has very small HW size and spends little computation to estimate channel state. Because of this advantage, it is acceptable to apply IEEE 802.15.4 which has to operate more than 1 year with battery. For the image transmission, we integrate the low-MAC FEC controller and RCPC coder in sensor node of LR-WPAN. The modified sensor node has increase of 3% hardware size than conventional zigbee sensor node.
Keywords: FEC, IEEE 802.15.4, JPEG2000, low-MAC.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19192015 Optimal Supplementary Damping Controller Design for TCSC Employing RCGA
Authors: S. Panda, S. C. Swain, A. K. Baliarsingh, C. Ardil
Abstract:
Optimal supplementary damping controller design for Thyristor Controlled Series Compensator (TCSC) is presented in this paper. For the proposed controller design, a multi-objective fitness function consisting of both damping factors and real part of system electromachanical eigenvalue is used and Real- Coded Genetic Algorithm (RCGA) is employed for the optimal supplementary controller parameters. The performance of the designed supplementary TCSC-based damping controller is tested on a weakly connected power system with different disturbances and loading conditions with parameter variations. Simulation results are presented and compared with a conventional power system stabilizer and also with the TCSC-based supplementary controller when the controller parameters are not optimized to show the effectiveness and robustness of the proposed approach over a wide range of loading conditions and disturbances.
Keywords: Power System Oscillations, Real-Coded Genetic Algorithm (RCGA), Thyristor Controlled Series Compensator (TCSC), Damping Controller, Power System Stabilizer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22042014 Multivariable Predictive PID Control for Quadruple Tank
Authors: Qamar Saeed, Vali Uddin, Reza Katebi
Abstract:
In this paper multivariable predictive PID controller has been implemented on a multi-inputs multi-outputs control problem i.e., quadruple tank system, in comparison with a simple multiloop PI controller. One of the salient feature of this system is an adjustable transmission zero which can be adjust to operate in both minimum and non-minimum phase configuration, through the flow distribution to upper and lower tanks in quadruple tank system. Stability and performance analysis has also been carried out for this highly interactive two input two output system, both in minimum and non-minimum phases. Simulations of control system revealed that better performance are obtained in predictive PID design.Keywords: Proportional-integral-derivative Control, GeneralizedPredictive Control, Predictive PID Control, Multivariable Systems
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32512013 Fuzzy Logic Controller Based Shunt Active Filter with Different MFs for Current Harmonics Elimination
Authors: Shreyash Sinai Kunde, Siddhang Tendulkar, Shiv Prakash Gupta, Gaurav Kumar, Suresh Mikkili
Abstract:
One of the major power quality concerns in modern times is the problem of current harmonics. The current harmonics is caused due to the increase in non-linear loads which is largely dominated by power electronics devices. The Shunt active filtering is one of the best solutions for mitigating current harmonics. This paper describes a fuzzy logic controller based (FLC) based three Phase Shunt active Filter to achieve low current harmonic distortion (THD) and Reactive power compensation. The performance of fuzzy logic controller is analysed under both balanced sinusoidal and unbalanced sinusoidal source condition. The above controller serves the purpose of maintaining DC Capacitor Voltage constant. The proposed shunt active filter uses hysteresis current controller for current control of IGBT based PWM inverter. The simulation results of model in Simulink MATLAB reveals satisfying results.
Keywords: Shunt active filter, Current harmonics, Fuzzy logic controller, Hysteresis current controller.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27052012 Effects of Recognition of Customer Feedback on Relationships between Emotional Labor and Job Satisfaction: Focusing on a Call Center that Offers Professional Services
Authors: Kiyoko Yoshimura, Yasunobu Kino
Abstract:
Focusing on professional call centers where workers with expertise perform services, this study aims to clarify the relationships between emotional labor and job satisfaction and the effects of recognition of customer feedback. Since the professional call center operators consist of professional license holders (qualification holders) and those who do not (non-holders), the following three points are analyzed in the two groups by using covariance structure analysis and simultaneous multi-population analysis: 1) The relationship between emotional labor and job satisfaction, 2) customer feedback and job satisfaction, and 3) the intermediation effect between the emotional labor of customer feedback and job satisfaction. The following results are obtained: i) No direct effect is found between job satisfaction and emotional labor for qualification holders and non-holders, ii) for qualification holders and non-holders, recognition of positive feedback and recognition of negative feedback had positive and negative effects on job satisfaction, respectively, iii) for qualification and non-holders, “consideration for colleagues” influences job satisfaction by recognizing positive feedback, and iv) only for qualification holders, the factors “customer-oriented emotional expression” and “emotional disharmony” have a positive and negative effect on job satisfaction, respectively, through recognition of positive feedback and recognition of negative feedback.
Keywords: Call center, emotional labor, professional service, job satisfaction, customer feedback.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 212011 Design and Implementation of a Fan Coil Unit Controller Based on the Duty Ratio Fuzzy Method
Authors: Liang Zhao, Jili Zhang, Kai Li
Abstract:
A microcontroller-based fan coil unit (FCU) fuzzy controller is designed and implemented in this paper. The controller employs the concept of duty ratio on the electric valve control, which could make full use of the cooling and dehumidifying capacity of the FCU when the valve is off. The traditional control method and its limitations are analyzed. The hardware and software design processes are introduced in detail. The experimental results show that the proposed method is more energy efficient compared to the traditional controlling strategy. Furthermore, a more comfortable room condition could be achieved by the proposed method. The proposed low-cost FCU fuzzy controller deserves to be widely used in engineering applications.Keywords: Fan coil unit, duty ratio, fuzzy controller, experiment.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17852010 A Genetic Algorithm for Optimum Design of PID Controller in Load Frequency Control
Authors: T. Hussein
Abstract:
In this paper, determining the optimal proportionalintegral- derivative (PID) controller gains of an single-area load frequency control (LFC) system using genetic algorithm (GA) is presented. The LFC is notoriously difficult to control optimally using conventionally tuning a PID controller because the system parameters are constantly changing. It is for this reason the GA as tuning strategy was applied. The simulation has been conducted in MATLAB Simulink package for single area power system. the simulation results shows the effectiveness performance of under various disturbance.Keywords: Load Frequency Control (LFC), PID controller and Genetic Algorithm (GA).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 37282009 Optimal Based Damping Controllers of Unified Power Flow Controller Using Adaptive Tabu Search
Authors: Rungnapa Taithai, Anant Oonsivilai
Abstract:
This paper presents optimal based damping controllers of Unified Power Flow Controller (UPFC) for improving the damping power system oscillations. The design problem of UPFC damping controller and system configurations is formulated as an optimization with time domain-based objective function by means of Adaptive Tabu Search (ATS) technique. The UPFC is installed in Single Machine Infinite Bus (SMIB) for the performance analysis of the power system and simulated using MATLAB-s simulink. The simulation results of these studies showed that designed controller has an tremendous capability in damping power system oscillations.
Keywords: Adaptive Tabu Search (ATS), damping controller, Single Machine Infinite Bus (SMIB), Unified Power Flow Controller (UPFC).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24662008 Sloshing Control in Tilting Phases of the Pouring Process
Authors: Maria P. Tzamtzi, Fotis N. Koumboulis
Abstract:
We propose a control design scheme that aims to prevent undesirable liquid outpouring and suppress sloshing during the forward and backward tilting phases of the pouring process, for the case of liquid containers carried by manipulators. The proposed scheme combines a partial inverse dynamics controller with a PID controller, tuned with the use of a “metaheuristic" search algorithm. The “metaheuristic" search algorithm tunes the PID controller based on simulation results of the plant-s linearization around the operating point corresponding to the critical tilting angle, where outpouring initiates. Liquid motion is modeled using the well-known pendulumtype model. However, the proposed controller does not require measurements of the liquid-s motion within the tank.Keywords: Robotic systems, Controller design, Sloshingsuppression, Metaheuristic optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19382007 Design of Local Interconnect Network Controller for Automotive Applications
Authors: Jong-Bae Lee, Seongsoo Lee
Abstract:
Local interconnect network (LIN) is a communication protocol that combines sensors, actuators, and processors to a functional module in automotive applications. In this paper, a LIN ver. 2.2A controller was designed in Verilog hardware description language (Verilog HDL) and implemented in field-programmable gate array (FPGA). Its operation was verified by making full-scale LIN network with the presented FPGA-implemented LIN controller, commercial LIN transceivers, and commercial processors. When described in Verilog HDL and synthesized in 0.18 μm technology, its gate size was about 2,300 gates.
Keywords: Local interconnect network, controller, transceiver, processor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15592006 Sliding Mode Control of an Internet Teleoperated PUMA 600 Robot
Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane
Abstract:
In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.Keywords: Internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9362005 Stabilization and Control of a UAV Flight Attitude Angles using the Backstepping Method
Authors: Mihai Lungu
Abstract:
The paper presents the design of a mini-UAV attitude controller using the backstepping method. Starting from the nonlinear dynamic equations of the mini-UAV, by using the backstepping method, the author of this paper obtained the expressions of the elevator, rudder and aileron deflections, which stabilize the UAV, at each moment, to the desired values of the attitude angles. The attitude controller controls the attitude angles, the angular rates, the angular accelerations and other variables that describe the UAV longitudinal and lateral motions. To design the nonlinear controller, by using the backstepping technique, the nonlinear equations and the Lyapunov analysis have been directly used. The designed controller has been implemented in Matlab/Simulink environment and its effectiveness has been tested with a campaign of numerical simulations using data from the UAV flight tests. The obtained results are very good and they are better than the ones found in previous works.Keywords: Attitude angles, Backstepping, Controller, UAV.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23922004 Using Collaborative Pictures to Understand Student Experience
Authors: Tessa Berg, Emma Guion Akdag
Abstract:
Summative feedback forms are used in academia for gathering data on course quality and student understanding. Students answer a series of questions based on the course they are soon to finish in these forms. Feedback forms are notorious for being homogenised and limiting and thus the data captured is often neutral and lacking in tacit emotional responses. This paper contrasts student feedback forms with collaborative drawing. We analyse 19 pictures drawn by international students on a pre-sessional course. Through visuals we present an approach to enable a holistic level of student understanding. Visuals communicate irrespective of possible language, cultural and educational barriers. This paper sought to discover if the pictures mirrored the feedback given on a typical feedback form. Findings indicate a considerable difference in the two approaches and thus we highlight the value of collaborative drawing as a complimentary resource to aid the understanding of student experience.
Keywords: Feedback forms, visualisation, student experience, collaborative drawing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12342003 Control Algorithm for Shunt Active Power Filter using Synchronous Reference Frame Theory
Authors: Consalva J. Msigwa, Beda J. Kundy, Bakari M. M. Mwinyiwiwa,
Abstract:
This paper presents a method for obtaining the desired reference current for Voltage Source Converter (VSC) of the Shunt Active Power Filter (SAPF) using Synchronous Reference Frame Theory. The method relies on the performance of the Proportional-Integral (PI) controller for obtaining the best control performance of the SAPF. To improve the performance of the PI controller, the feedback path to the integral term is introduced to compensate the winding up phenomenon due to integrator. Using Reference Frame Transformation, reference signals are transformed from a - b - c stationery frame to 0 - d - q rotating frame. Using the PI controller, the reference signals in the 0 - d - q rotating frame are controlled to get the desired reference signals for the Pulse Width Modulation. The synchronizer, the Phase Locked Loop (PLL) with PI filter is used for synchronization, with much emphasis on minimizing delays. The system performance is examined with Shunt Active Power Filter simulation model.Keywords: Phase Locked Loop (PLL), Voltage Source Converter (VSC), Shunt Active Power Filter (SAPF), PI, Pulse Width Modulation (PWM)
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 35452002 A Sensorless Robust Tracking Control of an Implantable Rotary Blood Pump for Heart Failure Patients
Authors: Mohsen A. Bakouri, Andrey V. Savkin, Abdul-Hakeem H. Alomari, Robert F. Salamonsen, Einly Lim, Nigel H. Lovell
Abstract:
Physiological control of a left ventricle assist device (LVAD) is generally a complicated task due to diverse operating environments and patient variability. In this work, a tracking control algorithm based on sliding mode and feed forward control for a class of discrete-time single input single output (SISO) nonlinear uncertain systems is presented. The controller was developed to track the reference trajectory to a set operating point without inducing suction in the ventricle. The controller regulates the estimated mean pulsatile flow Qp and mean pulsatility index of pump rotational speed PIω that was generated from a model of the assist device. We recall the principle of the sliding mode control theory then we combine the feed-forward control design with the sliding mode control technique to follow the reference trajectory. The uncertainty is replaced by its upper and lower boundary. The controller was tested in a computer simulation covering two scenarios (preload and ventricular contractility). The simulation results prove the effectiveness and the robustness of the proposed controller
Keywords: robust control system, discrete-sliding mode, left ventricularle assist devicse, pulsatility index.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18582001 Self-Tuning Robot Control Based on Subspace Identification
Authors: Mathias Marquardt, Peter Dünow, Sandra Baßler
Abstract:
The paper describes the use of subspace based identification methods for auto tuning of a state space control system. The plant is an unstable but self balancing transport robot. Because of the unstable character of the process it has to be identified from closed loop input-output data. Based on the identified model a state space controller combined with an observer is calculated. The subspace identification algorithm and the controller design procedure is combined to a auto tuning method. The capability of the approach was verified in a simulation experiments under different process conditions.Keywords: Auto tuning, balanced robot, closed loop identification, subspace identification.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11112000 Application of Fractional Model Predictive Control to Thermal System
Authors: Aymen Rhouma, Khaled Hcheichi, Sami Hafsi
Abstract:
The article presents an application of Fractional Model Predictive Control (FMPC) to a fractional order thermal system using Controlled Auto Regressive Integrated Moving Average (CARIMA) model obtained by discretization of a continuous fractional differential equation. Moreover, the output deviation approach is exploited to design the K -step ahead output predictor, and the corresponding control law is obtained by solving a quadratic cost function. Experiment results onto a thermal system are presented to emphasize the performances and the effectiveness of the proposed predictive controller.
Keywords: Fractional model predictive control, fractional order systems, thermal system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11981999 Fuzzy Error Recovery in Feedback Control for Three Wheel Omnidirectional Soccer Robot
Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad
Abstract:
This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.
Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19241998 Neural Network Control of a Biped Robot Model with Composite Adaptation Low
Authors: Ahmad Forouzantabar
Abstract:
this paper presents a novel neural network controller with composite adaptation low to improve the trajectory tracking problems of biped robots comparing with classical controller. The biped model has 5_link and 6 degrees of freedom and actuated by Plated Pneumatic Artificial Muscle, which have a very high power to weight ratio and it has large stoke compared to similar actuators. The proposed controller employ a stable neural network in to approximate unknown nonlinear functions in the robot dynamics, thereby overcoming some limitation of conventional controllers such as PD or adaptive controllers and guarantee good performance. This NN controller significantly improve the accuracy requirements by retraining the basic PD/PID loop, but adding an inner adaptive loop that allows the controller to learn unknown parameters such as friction coefficient, therefore improving tracking accuracy. Simulation results plus graphical simulation in virtual reality show that NN controller tracking performance is considerably better than PD controller tracking performance.Keywords: Biped robot, Neural network, Plated Pneumatic Artificial Muscle, Composite adaptation
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18341997 Flexible Arm Manipulator Control for Industrial Tasks
Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu
Abstract:
This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.
Keywords: Distributed model, flexible manipulator, observer, robot control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16791996 Modelling the Photovoltaic Pump Output Using Empirical Data from Local Conditions in the Vhembe District
Authors: C. Matasane, C. Dwarika, R. Naidoo
Abstract:
The mathematical analysis on radiation obtained and the development of the solar photovoltaic (PV) array groundwater pumping is needed in the rural areas of Thohoyandou for sizing and power performance subject to the climate conditions within the area. A simple methodology approach is developed for the directed coupled solar, controller and submersible ground water pump system. The system consists of a PV array, pump controller and submerged pump, battery backup and charger controller. For this reason, the theoretical solar radiation is obtained for optimal predictions and system performance in order to achieve different design and operating parameters. Here the examination of the PV schematic module in a Direct Current (DC) application is used for obtainable maximum solar power energy for water pumping. In this paper, a simple efficient photovoltaic water pumping system is presented with its theoretical studies and mathematical modeling of photovoltaics (PV) system.
Keywords: Renewable energy sources, solar groundwater pumping, theoretical and mathematical analysis of photovoltaic (PV) system, theoretical solar radiation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25051995 Fuzzy Logic Based Maximum Power Point Tracking Designed for 10kW Solar Photovoltaic System with Different Membership Functions
Authors: S. Karthika, K. Velayutham, P. Rathika, D. Devaraj
Abstract:
The electric power supplied by a photovoltaic power generation systems depends on the solar irradiation and temperature. The PV system can supply the maximum power to the load at a particular operating point which is generally called as maximum power point (MPP), at which the entire PV system operates with maximum efficiency and produces its maximum power. Hence, a Maximum power point tracking (MPPT) methods are used to maximize the PV array output power by tracking continuously the maximum power point. The proposed MPPT controller is designed for 10kW solar PV system installed at Cape Institute of Technology. This paper presents the fuzzy logic based MPPT algorithm. However, instead of one type of membership function, different structures of fuzzy membership functions are used in the FLC design. The proposed controller is combined with the system and the results are obtained for each membership functions in Matlab/Simulink environment. Simulation results are decided that which membership function is more suitable for this system.
Keywords: MPPT, DC-DC Converter, Fuzzy logic controller, Photovoltaic (PV) system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4239