For digital proportional-integral-derivative control systems with unknown dynamics, the data-driven output-feedback fault-tolerant control (FTC) problem is studied in this paper. In a framework of ...active FTC, the issue of online recursive identification of the residual generator, the state observer, and the observability canonical form of the plant under consideration is addressed; the problem of reconfiguration of the data-driven fault-tolerant compensation controller with L 2 -gain properties is also dealt with by means of the above-obtained results, the prefilter and the Riccati equation related to H ∞ control so as to accommodate faults and ensure tracking performance. The resulting fault-tolerant compensation control scheme is designed based on the closed-loop systems, and therefore has more practical significance than the existing FTC methodologies developed in terms of the open-loop systems. Finally, the effectiveness of the proposed FTC approach is validated by the speed control experiment on a dc motor.
DC Motors are widely used in industries because they provide better quality with high torque and low volume. A individual PID Controller and A Fuzzy Based PID Controller is proposed to design in this ...paper. By a comparison between both the Controllers an overview of performance of both the Controllers is provided. By the literature review it is found that many of the researchers used fuzzy controller with some algorithms to tune the parameters of the PID Controller so here for the tuning of the PID parameters Fuzzy Controller itself used. In Conventional PID Controller there is a difficulty to control the value of the parameters and get good suitable characteristic. In the Fuzzy-Controller to satisfy the control characteristics of the parameters there is special ability and that is to provide an easy computing, to control for Motor. By comparing the responses for both the controllers, Fuzzy based PID Controller presents better performance than PID Controller. To Model the DC Motor and for the simulation purpose LabVIEW software has been used.
Considering the superior control characteristics and increased tuning flexibility of the Fractional-Order Proportional Integral Derivative (FOPID) controller than the conventional PID regulator, this ...article attempts to explore its application in the optimal design of the Automatic Voltage Regulator (AVR). Since FOPID has two additional tuning parameters (µ and ʎ) than its mentioned conventional counterpart, its tuning process is comparatively difficult. To overcome the stated issue, a self-regulated off-line optimal tuning method based on the Gradient-Based Optimization (GBO) algorithm is adopted in the current study. The optimal FOPID gains are obtained by minimizing the selected Fitness Function (FF) that is chosen as Integral Time Absolute Error (ITAE) in the current study. The simulations are performed using MATLAB/SIMULINK 2018a to test and compare the performance of the proposed GBO-based optimal AVR design based on the dynamic response, stability, and robustness evaluation metrics with some of the recently published metaheuristic optimization algorithm based optimal AVR designs in the literature. The results show that the proposed AVR design provides the most optimal dynamic response and enhanced stability among the considered AVR designs, thus proves its efficacy and essence.
•A 2-DOF compliant nano-positioning scanner featured with the novel compound decoupling-guiding mechanism is proposed.•The chain-based compliance matrix method is adopted for analytical modeling.•The ...proposed scanner shows a good input and output decoupling capacity, and the cross-axis coupling ratio is lower than 0.6%.
This paper presents the design and characteristic analysis of a novel two-degree-of-freedom (2-DOF) compliant nano-positioning scanner with novel compound decoupling-guiding mechanism. The mechanism features with the combination of separated prismatic joint and parallelogram, through which the parasitic displacement of scanner can be reduced and the motion guiding is obtained. Furthermore, the dynamic performance can be effectively improved. An amplifier and symmetrical configuration are adopted for decoupled motion with large stroke. An analytical model based on the modified matrix method is established to describe the static and dynamic characteristics, and the performance of the nano-positioning scanner is further analyzed by finite element method. A prototype of the scanner has been fabricated, and the experimental test is carried out. A PID controller is adopted to improve the linearity of motion. The results illustrate that the proposed scanner has a working range of 40.2×42.9 µm2 with a small cross-axis coupling ratio below 0.6% and a positioning resolution of 10 nm.
This study focuses on the role of autonomous control systems in robotics, focusing on how robot controls the actuator movements after meticulous information processing and decision-making within the ...robotic framework ROS. To go on this experimental challenge, a diesel tractor was modified into a versatile experimental platform capable of autonomous navigation and control. At the center of this tractor is the sensory module term1ed "Sentry," which consists of a network of interconnected sensors that have been methodically integrated to enable comprehensive ambient perception. The sensors use advanced technologies like 3D 360º LiDAR for spatial mapping, thermal cameras for object detection, RGBD cameras for visual perception, a microcontroller for control, GPS+RTK for precise positioning and a Jetson Xavier for high-performance computing. The experimental assessments done in this work covered a wide range of scenarios, from simulated environments with controlled variables to real-world terrains rife with uncertainty and variability. Valuable insights were gained by analyzing the resulting data, revealing light on the system's operation, performance, and efficacy under various scenarios.
Improving temperature reference tracking in solar collector fields is essential for enhancing the performance of solar thermal plants. Conventional control strategies are usually employed as static ...reference feedforwards (FFs) to reduce rise time when reference changes occur. Nevertheless, strict performance requirements may demand precise control behavior that classical reference FFs cannot deliver. Therefore, from theoretical analysis, this work proposes two different control strategies based on reference FF structure to accomplish a low rise time and avoid producing overshoot for temperature reference tracking, namely, a lead-lag and a nonlinear reference FF. The structures are studied for suitable implementation, assuming an adaptive control framework to keep the same control performance under different operating conditions. Simulation experiments are developed to investigate and compare the proposed strategies with the conventional static FF with and without a reference filter. Furthermore, the proposed strategies are successfully tested in an actual solar plant AQUASOL-II, located in the Plataforma Solar de Almería (PSA), Almería, Spain. The promising results have concluded that the lead-lag and nonlinear reference FF associated with the adaptive structure have attended the proposed control requirements of low rise time and no overshoot. Moreover, the results have demonstrated the compromise between the lead-lag and the nonlinear controller, where the final choice should be made as a tradeoff between performance and control effort.
•A new LFC design method of PIDC/PID controllers for single/multi-area power systems.•Power systems with steam (non-reheated/reheated) and hydro turbines are investigated.•Tuning rules for ...PIDC/PID-type controllers in terms of two user-supplied parameters.•Efficient load disturbance rejection considering robustness and noise sensitivities.•Non-linearity generation rate constraint (GRC) phenomenon is examined.
A novel method for designing Load Frequency Controllers (LFC) is proposed in the present paper. Proportional-Integral-Derivative controllers with and without serial compensator – PID and PIDC – are considered in contexts of single-area and multi-area power systems. The proposed design methodology focuses on achieving efficient load disturbance rejection, while simultaneously preserving an adequate level of robustness with respect to measurement noise and model uncertainties. Explicit tuning formulas are provided for single-area power systems with reheated, non-reheated and hydro turbines, characterized by two free parameters. Dependence of integral performance measures (IAE and ITAE), as well as TVd for evaluating control effort, and sensitivity indices (Ms, Mp and Mn) in terms of these parameters is analyzed, and the associated performance-robustness trade-off is elaborated in detail. The proposed method is extended to multi-area power systems in a straightforward manner using decentralized PIDC/PID tuning. A comparative numerical study is performed involving several LFC techniques recently reported in literature.
Refrigeration devices designed for use in industrial environments are typically equipped with universal control algorithms, which require a minimal number of signals and parameters to ensure ...satisfactory device operation. These algorithms are typically of the PID type. This study elaborates upon the impact of using a dedicated hybrid controller, which was designed with specific consideration of the operating conditions of a given refrigeration device. The identified nonlinear Drycooler characteristics were used to support the controller at steady-state operating conditions. The system dynamics were supervised by a dedicated, experience-based designed hybrid fuzzy logic Mamdani type controller for both freecooling and compressor modes. The switchable configuration of the MISO control architecture results in a reduction in overshoots and oscillations in the system, a decrease in the time necessary for stabilization, a reduction in CO2, and an increase in control quality and energy efficiency.
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•Historical data and experience is a key to success in the fuzzy controller design.•Custom fuzzy logic controllers and switching between freecooling and compressor modes increased efficiency and control quality.•Identified nonlinear Drycooler characteristics improved control quality.•Designed hybrid controller works effectively than built-in device controllers.•The convergent nonlinear model confirmed the correct implementation of the hybrid controller.
This paper presents a new modified Perturbation and Observation (P&O) maximum power point tracking algorithm with adaptive duty cycle step using PID controller based on genetic algorithm. The ...classical P&O MPPT algorithm is widely used in several applications due to its simplicity; however, P&O prone to failure especially when high changes in irradiance, oscillation around the MPP and the convergence speed. To face this challenge and in order to overcome the drawbacks of the classical P&O MPPT, a new method based on variable-step size of modified P&O MPPT method using PID controller tuned by genetic algorithm is presented. The efficiency of the proposed method has been studied successfully using a boost converter connected to a Solarex MSX-60 model. Analysis and comparison with the classical fixed step size P&O and that developed genetic variable step size are presented. The efficiency and improvements of the proposed algorithm in transient, steady-state and dynamic responses, especially under rapidly changing atmospheric conditions, related to ripple, overshoot and response time have been demonstrated. Algorithm robustness was verified using different schemes for temperature and insolation proving its ability to track the maximum power point in case of random and fast changing atmospheric conditions.
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