IAES International Journal of Robotics and Automation (IJRA)
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Dynamic Control of Mobile Robot Using RBF Global Fast Sliding mode
Get PDFThis paper mainly In this paper a dynamic control of mobile robot using RBF global fast sliding mode (RBF-GFSM) strategy is presented. Firstly a GFSM controller is used in order to make the linear and angular velocities converge to references ones in finite time. However a problem of instability of velocities is appeared by introducing disturbances in the system. Secondly, a combined controller using RBF-GFSM approach is applied in aim to stabilize the velocities errors and estimates the nonlinear function of the robot model. The system stability is done using the lyapunov theory. The proposed controllers are dynamically simulated using Matlab/Simulink and the simulations results show the efficiency and robustness of the proposed control strategy
An Actor-critic Algorithm Using Cross Evaluation of Value Functions
Get PDFIn order to overcome the difficulty of learning a global optimal policy caused by maximization bias in a continuous space, an actor-critic algorithm for cross evaluation of double value function is proposed. Two independent value functions make the critique closer to the real value function. And the actor is guided by a crossover function to choose its optimal actions. Cross evaluation of value functions avoids the policy jitter phenomenon behaved by greedy optimization methods in continuous spaces. The algorithm is more robust than CACLA learning algorithm, and the experimental results show that our algorithm is smoother and the stability of policy is improved obviously under the condition that the computation remains almost unchanged
Modelling and Passivity-Based Control of a Non Isolated DC-DC Converter in a Fuel Cell System
Get PDFThis paper presents the model of a fuel cell and the design and simulation of a cascade of two DC-DC converters. First, a detailed mathematical model of fuel cell is presented and simulated. Then, a nonlinear model of the whole controlled system is developed and a robust nonlinear controller of currents is synthesized using a passivity-based control. A formal analysis based on Lyapunov stability and average theory is developed to describe the control currents loops performances. A classical PI controller is used for the voltages loops. The simulation models have been developed and tested in the MATLAB / SIMULINK. Simulated results are displayed to validate the feasibility and the effectiveness of the proposed strategy
Design of Robust Controller for Higher Order Interval System using Differential Evolutionary Algorithm
Get PDFThis paper describes the design of the robust PI/PID controller for the higher order interval system via its reduced order model using the differential evolution (DE) algorithm. A stable reduced interval model is generated from a higher order interval system using the DE in order to minimize the cost and reduce the complexity of the system. This reduced order interval numerator and denominator polynomials are determined by minimizing the Integral Squared Error (ISE) using the DE. Then, using reduced order interval model, a robust PI/PID controller is designed based on the stability conditions for determining robust stability of interval system. Finally, using these stability conditions, a set of inequalities in terms of controller parameters is obtained from the reduced order closed loop characteristic polynomial. Then these inequalities are solved to obtain robust controller parameters with the help of a DE algorithm. The designed, robust controller from the reduced order interval model will be attributed to the higher order interval system. The designed PI/PID controller from our proposed method not only stabilizes the reduced order model, but also stabilizes the original higher order system. The viability of the proposed methodology is illustrated through the numerical example of its successful implementation. The efficacy of the proposed methodology is also evaluated against the available approaches presented in the literature and the results were successfully implemented
Fuzzy Takagi-Sugeno Method in Microcontroller Based Water Tank System
Get PDFThis paper present the performance of Fuzzy logic controller in maintain level of water in water tank system. The mathematical modelling was developed to get the initial idea of the system performance. Later, the prototype of water tank system were constructed and tested to get the real time results. The Takagi-Sugeno “on” and “off” interference technique method was implemented due to the control limitation of the pump motor that being used in the experimental setup. The fuzzy logic controller was realized by embedded the algorithm in microcontroller of the water tank system. The experimental results show acceptable level of water within the range of 18cm to 20.5cm and settling time 59 seconds with 20 cm set point
Exponential Reaching Law and Sensorless DTC IM Control with Neural Network Online Parameters Estimation based on MRAS
Get PDFThe most important problem in the control of induction machine (IM) is the change of its parameters, especially the stator resistance and rotor-time constant. The objective of this paper is to implement a new strategy in sensorless direct torque control (DTC) of an IM drive. The rotor flux based model reference adaptive system (MRAS) is used to estimate conjointly the rotor speed, the stator resistance and the inverse rotor time constant, the process of the estimation is performed on-line by a new MRAS-based artificial neural network (ANN) technique. Furthermore, the drive is complemented with a new exponential reaching law (ERL), based on the sliding mode control (SMC) to significantly improve the performances of the system control compared to the conventional SMC which is known to be susceptible to the annoying chattering phenomenon. An experimental investigation was carried out via the Matlab/Simulink with real time interface (RTI) and dSPACE (DS1104) board where the behavior of the proposed method was tested at different points of IM operation
Backstepping Control for MPPT and UPF of a Three Phase Single Stage Grid Connected PV System
Get PDFThis paper presents a new control methodology of a three phase grid connected photovoltaic system without using the intermediary DC/DC converter. Based on the synchronized nonlinear model of the whole photovoltaic system, two controllers have been proposed for the three-phase inverter in order to ensure the operation of the PV system at the maximum power point with unity power factor and minimum grid disturbance. Grid synchronization has been ensured by a three-phase 2nd order PLL (Phase-Locked Loop). The stability of each controller is demonstrated by means of Lyapunov analysis and evaluated under changing atmospheric conditions using the Matlab/Simulink environment, the simulation results clearly demonstrate the performance provided by each controller
Green Two-wheeled Mobility: Electric Scooters Using Brushless Motor based on Fuzzy Logic Controller
Get PDFIn the last years electric vehicles gained importance as a more sustainable alternative to traditional vehicles. The introduction of an electric power train leads to lower air-pollution emissions. ‘Electric bicycles’ are sometimes more like an electric pedaled moped, other times more like a Vespa-looking scooter with or without pedals, and they often offer good range and speeds. However, a “scooter” can also be an electric cart for personal mobility, or a skateboard-like vehicle with small handlebars. Electric scooters are the most legislatively active realm of electric bicycles, at the present time. Brushless DC (BLDC) motors are one of the electrical drives that are rapidly gaining popularity, due to their high efficiency, good dynamic response and low maintenance. In this paper, the modeling and simulation of the BLDC motor was done using the software package MATLAB/SIMULINK. The proposed fuzzy logic controller has given optimal results compared to PI controller. The simulated system using the fuzzy controller has a fast response without overshoot, zero steady state error and high load robustness
Controlling of Mobile Robot by Using of Predictive Controller
Get PDFIn this paper implementation of Model PredictiveController on mobile robot was explained. The conductedexperiments show effectiveness of the proposed method oncontrol of the mobile robot. Furthermore the effects of the modelparameters such as control horizon, prediction horizon,weighting factor and signal filter band on the controllerperformance were studied. Finally, a comparison between thedesigned MPC controller and PID and adaptive controllers waspresented demonstrating superior performance of the ModelPredictive Controllers
Implementing 3D Printer to Produce Parts in Medical Applications
Get PDFThe purpose of this project is to show the ability of a 3D printer to produce temporary parts, molds, and jigs for industrial applications. In the industry, it is common for any replacement parts to be milled by a CNC machine or a large inventory of replacement parts to be kept on standby. This represents an underutilization of company capital. This is because there should either be a CNC machine delegated to remake the part, while the other machine is down, or have capital dumped into parts that will not be utilized until a part breaks. A 3D printer can create a temporary part that can take the place of the broken one until another, more permanent, one can be produced or ordered. Although, if this was the only thing it would be used for it also would be underutilized and not bringing out its full potential. It can also make jigs in a fraction of the time, and cost in materials, it would take for a CNC machine to mill it from metal. This increases flexibility of the 3D printer and does not leave it underutilized, thus not being capital that is underutilized