scholarly journals Tracking Control for an Electro-Hydraulic Rotary Actuator Using Fractional Order Fuzzy PID Controller

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 926 ◽  
Author(s):  
Tri Cuong Do ◽  
Duc Thien Tran ◽  
Truong Quang Dinh ◽  
Kyoung Kwan Ahn
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Fractional Order ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Integer Order ◽  
Fuzzy Pid Controller ◽  
System A ◽  
Rotary Actuator ◽  
Fractional Order Pid

This paper presents a strategy for a fractional order fuzzy proportional integral derivative controller (FOFPID) controller for trajectory-tracking control of an electro-hydraulic rotary actuator (EHRA) under variant working requirements. The proposed controller is based on a combination of a fractional order PID (FOPID) controller and a fuzzy logic system. In detail, the FOPID with extension from the integer order to non-integer order of integral and derivative functions helps to improve tracking, robustness and stability of the control system. A fuzzy logic control system is designed to adjust the FOPID parameters according to time-variant working conditions. To evaluate the proposed controller, co-simulations (using AMESim and MATLAB) and real-time experiments have been conducted. The results show the effectiveness of the proposed approach compared to other typical controllers.

scholarly journals Fractional order PID controller tuned by bat algorithm for robot trajectory control

2021 ◽  
Vol 21 (1) ◽  
pp. 74
Author(s):  
Mohammad A. Faraj ◽  
Abdulsalam Mohammed Abbood
Keyword(s):  
Fractional Order ◽  
Tracking Control ◽  
Bat Algorithm ◽  
Robotic Manipulators ◽  
Pso Algorithm ◽  
Objective Functions ◽  
Trajectory Tracking Control ◽  
Robot Trajectory ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

<span>This paper deals with implementing the tuning process of the gains of fractional order proportional-integral-derivative (FOPID) controller designed for trajectory tracking control for two-link robotic manipulators by using a Bat algorithm. Two objective functions with weight values assigned has been utilized for achieving the minimization operation of errors in joint positions and torque outputs values of robotic manipulators. To show the effectiveness of using a Bat algorithm in tuning FOPID parameters, a comparison has been made with particle swarm optimization algorithm (PSO). The validity of the proposed controllers has been examined in case of presence of disturbance and friction. The results of simulations have clearly explained the efficiency of FOPID controller tuned by Bat algorithm as compared with FOPID controller tuned by PSO algorithm. </span>

scholarly journals Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

2018 ◽  
Vol 26 (4) ◽  
pp. 292-306 ◽  
Author(s):  
Ameer L. Saleh ◽  
Maab A. Hussain ◽  
Sahar M. Klim
Keyword(s):  
Mobile Robot ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Dynamic Models ◽  
Dynamic Performance ◽  
Pso Algorithm ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Fractional Order Pid

This paper present an optimal Fractional Order PID (FOPID) controller based on Particle Swarm Optimization (PSO) for controlling the trajectory tracking of Wheeled Mobile Robot(WMR).The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic

2012 ◽  
Vol 590 ◽  
pp. 268-271 ◽  
Author(s):  
Da Lei Li ◽  
Zhan Shu He ◽  
Yue Feng Yin
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Adaptive Pid Control ◽  
Self Adaptive

A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.

scholarly journals Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Sunil Kumar Mishra ◽  
Dinesh Chandra
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Tracking Control ◽  
Inverted Pendulum ◽  
Fitness Function ◽  
Pid Controllers ◽  
Simulink Model ◽  
System A ◽  
Simulation Results ◽  
Fractional Order Pid

This work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) controller for stabilization and tracking control of inverted pendulum (IP) system. A particle swarm optimisation (PSO) based direct tuning technique is used to design two PIλDμcontrollers for IP system without linearizing the actual nonlinear model. The fitness function is minimized by running the SIMULINK model of IP system according to the PSO program in MATLAB. The performance of proposed PIλDμcontrollers is compared with two PID controllers. Simulation results are also obtained by adding disturbances to the model to show the robustness of the proposed controllers.

Study of Vice-Steering Control System for Training Car

2011 ◽  
Vol 142 ◽  
pp. 79-82
Author(s):  
Wei Chun Zhang ◽  
Bing Bing Ma ◽  
Xian Bin Du ◽  
Bao Hao Pei ◽  
Jie Chen
Keyword(s):  
Mathematical Model ◽  
Fuzzy Logic ◽  
Control System ◽  
Dynamic Characteristics ◽  
Pid Controller ◽  
Fuzzy Controller ◽  
Fuzzy Pid ◽  
Steering Control ◽  
Fuzzy Pid Controller ◽  
System A

Based on analyzing the structure and dynamic characteristics of this system, a dynamical mathematical model is established. To overcome the problems when using fuzzy controller or PID controller respectively and increase precision, a P-fuzzy-PID mode controller and a fuzzy PID controller is designed to control the system. The module of simulink which is a part of MATLAB is used to construct a monolithic mould. The fuzzy logic toolbox is used to construct a fuzzy mould. The results of simulation show that the performance of control becomes better by using this design.

Fractional-Order PID Controller of a Heating-Furnace System

2012 ◽  
Vol 490-495 ◽  
pp. 1145-1149 ◽  
Author(s):  
Yan Mei Wang ◽  
Yi Jie Liu ◽  
Rui Zhu ◽  
Yan Zhu Zhang
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Heating Furnace ◽  
Order Model ◽  
Integer Order ◽  
System A ◽  
Fractional Order Pid

This paper discusses the fractional-order controller of heating-furnace system, a new PID controller of heating-furnace system based on fractional calculus will be considered. Classical PID control method is also studied. Then, this paper presents the fractional-order PID control method based on integer-order model of heating-furnace system. Meanwhile, simulation study is done. Comparing the control methods and strategies of integer order model of the heating-furnace system, a conclusion is drawn that PID control based on fractional calculus is much more complex than that of integer order controller. Numerical simulations are used to illustrate the improvements of the proposed controller for the integer-order heating-furnace systems.

The Experiment of Trajectory Tracking Control of Joint Manipulator with PC-Based

2011 ◽  
Vol 101-102 ◽  
pp. 431-434
Author(s):  
Mei Qin Zhang ◽  
Wu Feng ◽  
Hui Di Zhang ◽  
Xian Chen Wang
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Robot Control ◽  
Control Program ◽  
High Price ◽  
Trajectory Tracking Control ◽  
System A ◽  
The Poor ◽  
Articulated Robot ◽  
Robot Control System

For the disadvantages of the poor open and high price of the special joint robot control system, a general PC-based three degree articulated robot control system is proposed. After modeling kinematics of the robot, the kinematics trajectory is planned and the trajectory algorithm is designed in a given error condition. Finally, the control program is done with VB, and it is verified by an example.

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