Tracking control of uncertain Euler–Lagrange systems with fading and saturating actuations: A low‐cost neuroadaptive proportional‐integral‐derivative approach

2021 ◽  
Author(s):  
Huan Liu ◽  
Zhen Gao ◽  
Lan Cao ◽  
Ziqiang Jiang ◽  
Jie Zhang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Low Cost ◽  
Proportional Integral Derivative ◽  
Proportional Integral

scholarly journals Design of microcontroller-based decentralized controller board to drive chiller systems using PID and fuzzy logic algorithms

2019 ◽  
Vol 234 (1) ◽  
pp. 98-107 ◽  
Author(s):  
Yalcin Isler ◽  
Savas Sahin ◽  
Orhan Ekren ◽  
Cuneyt Guzelis
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Low Cost ◽  
Variable Speed ◽  
Proportional Integral Derivative ◽  
Scroll Compressor ◽  
Proportional Integral ◽  
Output Controller ◽  
Expansion Valve ◽  
Controller Board

This study deals with designing a decentralized multi-input multi-output controller board based on a low-cost microcontroller, which drives both parts of variable-speed scroll compressor and electronic-type expansion valve simultaneously in a chiller system. This study aims to show the applicability of commercial low-cost microcontroller to increase the efficiency of the chiller system, having variable-speed scroll compressor and electronic-type expansion valve with a new electronic card. Moreover, the refrigerant system proposed in this study provides the compactness, mobility, and flexibility, and also a decrease in the controller unit’s budget. The study was tested on a chiller system that consists of an air-cooled condenser, a variable-speed scroll compressor, and a stepper driven electronic-type expansion valve. The R134a was used as a refrigerant fluid and its flow was controlled by electronic-type expansion valve in this setup. Both variable-speed scroll compressor and electronic-type expansion valve were driven by the proposed hardware using either proportional integral derivative or fuzzy logic controller, which defines four distinct controller modes. The experimental results show that fuzzy logic controlled electronic-type expansion valve and proportional integral derivative controlled variable-speed scroll compressor mode give more robustness by considering the response time.

scholarly journals PD-SVM Integrated Controller for Robotic Manipulator Tracking Control

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Neha Kapoor ◽  
Jyoti Ohri
Keyword(s):  
Neural Network ◽  
Support Vector Machine ◽  
System Performance ◽  
Tracking Control ◽  
Pid Controller ◽  
Robotic Manipulator ◽  
Support Vector ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Noise Disturbances

Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) controller. It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.

Path tracking control of electromechanical micro-positioner by considering control effort of the system

2020 ◽  
pp. 095965182095327
Author(s):  
Mohammad Reza Gharib ◽  
Ali Koochi ◽  
Mojtaba Ghorbani
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Path Tracking ◽  
Lumped Parameter Model ◽  
Proportional Integral Derivative ◽  
Control Effort ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Micro Actuators ◽  
And Control

Position controlling with less overshoot and control effort is a fundamental issue in the design and application of micro-actuators such as micro-positioner. Also, tracking a considered path is very crucial for some particular applications of micro-actuators such as surgeon robots. Herein, a proportional–integral–derivative controller is designed using a feedback linearization technique for path tracking control of a cantilever electromechanical micro-positioner. The micro-positioner is simulated based on a 1-degree-of-freedom lumped-parameter model. Three different paths are considered, and the capability of the designed controller on the path tracking with lower error and control effort is investigated. The obtained results demonstrate the efficiency of the designed proportional–integral–derivative controller not only for reducing the tracking error but also for decreasing the control effort.

Automatic Irrigation Control System for Soilless Culture Based on Feedback from Drainage Hydrograph

2017 ◽  
Vol 33 (4) ◽  
pp. 531-542 ◽  
Author(s):  
Daniel Rodríguez ◽  
Juan Reca ◽  
Juan Martínez ◽  
Miguel Urrestarazu
Keyword(s):  
Control System ◽  
Low Cost ◽  
Irrigation Management ◽  
Irrigation Scheduling ◽  
Soilless Culture ◽  
Proportional Integral Derivative ◽  
Tomato Crop ◽  
Proportional Integral ◽  
Irrigation Application ◽  
Irrigation Control

Abstract. In a soilless culture, water and nutrients must be frequently and precisely applied due to the reduced volume and low water holding capacity of the substrate. We describe a low-cost and efficient control system for the irrigation management of soilless culture based on an irrigation tray. Both irrigation and drainage volumes from the irrigation control tray are measured automatically. The proposed irrigation scheduling options were based on applying both variable timing and amounts. A Proportional Integral Derivative (PID) algorithm was used to establish the irrigation timing option while two different irrigation application options, based on measurements from the drainage hydrograph, were developed and tested. A field test performed on a tomato crop was carried out to assess the performance of the two irrigation application options. Both irrigation algorithms performed well as they fitted the leaching fraction for every irrigation event to the target value. The fruit yield and quality were comparable to results obtained from the control treatment of the tomato crop. The designed low-cost irrigation control system, if implemented on commercial farms, could prove to be economically very beneficial. Keywords: Automation, Drainage hydrograph, Irrigation control tray, Irrigation scheduling, Proportional-Integral-Derivative (PID) controller, Substrate culture.

scholarly journals Vision-based Fuzzy Proportional–Integral–Derivative Tracking Control Scheme for Gantry Crane System

2021 ◽  
Vol 33 (9) ◽  
pp. 3333
Author(s):  
Feijie Zheng ◽  
Chi-Hsin Yang ◽  
Gao Hao ◽  
Kun-Chieh Wang ◽  
Hai-Lian Hong
Keyword(s):  
Tracking Control ◽  
Gantry Crane ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Control Scheme

Research on autonomous vehicle path tracking control considering roll stability

2020 ◽  
Vol 235 (1) ◽  
pp. 199-210
Author(s):  
Fen Lin ◽  
Shaobo Wang ◽  
Youqun Zhao ◽  
Yizhang Cai
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
Tracking Control ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Vehicle Path ◽  
Target Path

For autonomous vehicle path tracking control, the general path tracking controllers usually only consider vehicle dynamics’ constraints, without taking vehicle stability evaluation index into account. In this paper, a linear three-degree-of-freedom vehicle dynamics model is used as a predictive model. A comprehensive control method combining Model Predictive Control and Fuzzy proportional–integral–derivative control is proposed. Model Predictive Control is used to control the vehicle yaw stability and track the target path by considering the front wheel angle, sideslip angle, tire slip angles, and yaw rate during the path tracking. Fuzzy proportional–integral–derivative algorithm is adopted to maintain the vehicle roll stability by controlling the braking force of each tire. Co-simulation with CarSim and MATLAB/Simulink shows the designed controller has good tracking performance. The controller is smooth and effective and ensures handling stability in tracking the target path.

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