Fuzzy PD Plus I Control-based Adaptive Cruise Control System in Simulation and Real-time Environment
TL;DR: The paper demonstrates the design of fuzzy PD plus I controller including comparative investigation with control structures like PID, I – PD, and PI – D using Simulink modelling and shows superior performance on servo and regulatory problems in the cruise control system.
Abstract: An effort is made to design the fuzzy proportional-derivative (PD) plus I controller for a nonlinear cruise control system in automobiles, which provides adaptive capability in set-point tracking p...
Citations
More filters
TL;DR: In this paper, the authors presented a control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of a 3-RRR (3-Revolute,Revolute and Revolute) planar parallel robot.
Abstract: This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fu...
27 citations
Dissertation•
03 Jan 2012
TL;DR: A comparative evaluation of steady-state stability of LCL, LCC, and LCL-T resonant configurations and the superiority of fuzzy control over the conventional PI control method is shown.
Abstract: The resonant converter (RC) is finding wide applications in many space and radar power supplies. Among various RCs LCL, LCC, and LCL-T topologies are broadly used. This manuscript presents a comparative evaluation of steady-state stability of LCL, LCC, and LCL-T resonant configurations. Careful analysis favors LCL RC among the aforementioned three configurations since the stability region is good for the LCL RC over the other configurations. Also, this paper presents a comparative evaluation of proportional integral (PI) controller and fuzzy logic controller for a modified LCL RC. The aforementioned controllers are simulated using MATLAB and their performance is analyzed. The outcome of the analysis shows the superiority of fuzzy control over the conventional PI control method. The LCL RC is proposed for applications in many space and radar power supplies. Design, simulation, and experimental results for a 133-W, 50-kHz LCL RC are presented in this manuscript which provide high efficiency (greater than 89%) even for 50% of load. Efficiencies greater than 80% are obtained at significantly reduced loads (11%). In this paper, the applicability of the Philips advanced RISC machine processor LPC 2148 is also investigated for implementing the controller for an RC.
22 citations
TL;DR: A Fuzzy PID controller is modeled to regulate the pressure rate of hydrogen storage bed using MATLAB Simulink toolbox and produces improved time domain response and better performance compared to the conventional PID controller.
20 citations
TL;DR: A novel adaptive fault detection scheme, which merges random forest with adaptive cumulative sum, which is superior to several competing methods in capturing faults and reducing false alarms and can detect anomaly quickly, automatically and robustly under different signal-to-noise ratios.
Abstract: Rapid developments of wind industry arise the issue of heavy monitoring tasks. The residual monitoring based on normal behaviour modelling is a highly recommended method when fault record information is missing. However, it is difficult to achieve efficient normal behaviour modelling and dynamic residual monitoring simultaneously. To this end, a novel adaptive fault detection scheme, which merges random forest (RF) with adaptive cumulative sum (CUSUM), is proposed. The authors exploit RF to explore the non-linear mechanism between features and the target variable robustly, and obtain the residuals quickly. Then, they design the adaptive CUSUM control chart of time-varying shift to sensitively detect the changes of residuals. For illustration, they apply the proposed scheme to the supervisory control and data acquisition data acquired from a wind farm in China. The empirical results demonstrate that the proposed scheme is superior to several competing methods in capturing faults and reducing false alarms. Meanwhile, the authors find it can detect anomaly quickly, automatically and robustly under different signal-to-noise ratios. These provide operators sufficient time to adopt an effective maintenance strategy.
15 citations
01 Jun 2019
TL;DR: The modified car-following model is simulated as closed-loop control system to analyse its behaviour in terms of acceleration and distance and Interval type-2 fuzzy proportional-integral-derivative controller is introduced to mitigate the cyber attack and to overcome the uncertainty.
Abstract: Cyber defence mechanism is started with modelling the accurate car-following behaviour including cyber attack. The creation of finest models made the path of control action easier. The connection between the vehicles is mathematically formulated with the help of car-following behaviour, incorporating the derived acceleration function from the cruise control physical system. The modified car-following model is simulated as closed-loop control system to analyse its behaviour in terms of acceleration and distance. Fault data injection cyber attack is mathematically injected into the modified car-following model and simulated to analyse the impact of attack. Initially, the impact of fault data injection attack is detected and mitigated with the help of parallel proportional-integral-derivative controller and genetic algorithm tuned proportional-integral-derivative controller. Interval type-2 fuzzy proportional-integral-derivative controller is introduced to mitigate the cyber attack and to overcome the uncertainty. The integral square error and integral absolute error are used to compare the performance of the controllers. Inbuilt Wi-Fi connected car like mobile robots are used in real-time model. This model is designed and developed based on the Node MCU processors, real-time operating system, sensors and actuators.
14 citations
References
More filters
01 Jun 1999
TL;DR: The rule decoupled and one-input rule structures proposed in this paper provide greater flexibility and better functional properties than the conventional fuzzy PHD structures.
Abstract: The majority of the research work on fuzzy PID controllers focuses on the conventional two-input PI or PD type controller proposed by Mamdani (1974). However, fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base. This paper investigates different fuzzy PID controller structures, including the Mamdani-type controller. By expressing the fuzzy rules in different forms, each PLD structure is distinctly identified. For purpose of analysis, a linear-like fuzzy controller is defined. A simple analytical procedure is developed to deduce the closed form solution for a three-input fuzzy inference. This solution is used to identify the fuzzy PID action of each structure type in the dissociated form. The solution for single-input-single-output nonlinear fuzzy inferences illustrates the effect of nonlinearity tuning. The design of a fuzzy PID controller is then treated as a two-level tuning problem. The first level tunes the nonlinear PID gains and the second level tunes the linear gains, including scale factors of fuzzy variables. By assigning a minimum number of rules to each type, the linear and nonlinear gains are deduced and explicitly presented. The tuning characteristics of different fuzzy PID structures are evaluated with respect to their functional behaviors. The rule decoupled and one-input rule structures proposed in this paper provide greater flexibility and better functional properties than the conventional fuzzy PHD structures.
336 citations
"Fuzzy PD Plus I Control-based Adapt..." refers background in this paper
...There are several fuzzy PID structures with one input, two input, and three inputs [20]....
[...]
TL;DR: In this article, a full-range adaptive cruise control (ACC) system with collision avoidance (CA) is proposed to improve drivers' comfort during normal, safe-driving situations and to completely avoid rear-end collision in vehicle-following situations.
276 citations
TL;DR: In this article, a vehicle adaptive cruise control (ACC) algorithm design with human factors considerations is presented, where the goal of the control algorithm is to achieve naturalistic behaviour of the controlled vehicle that would feel natural to the human driver in normal driving situations and to achieve safe vehicle behaviour in severe braking situations in which large decelerations are necessary.
Abstract: This paper presents a vehicle adaptive cruise control algorithm design with human factors considerations Adaptive cruise control (ACC) systems should be acceptable to drivers In order to be acceptable to drivers, the ACC systems need to be designed based on the analysis of human driver driving behaviour Manual driving characteristics are investigated using real-world driving test data The goal of the control algorithm is to achieve naturalistic behaviour of the controlled vehicle that would feel natural to the human driver in normal driving situations and to achieve safe vehicle behaviour in severe braking situations in which large decelerations are necessary A non-dimensional warning index and inverse time-to-collision are used to evaluate driving situations A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC system Using a simulation and a validated vehicle simulator, vehicle following characteristics of the controlled vehicle are compared with real-world manual driving radar sensor data It is shown that the proposed control strategy can provide with natural following performance similar to human manual driving in both high speed driving and low speed stop-and-go situations and can prevent the vehicle-to-vehicle distance from dropping to an unsafe level in a variety of driving conditions
175 citations
"Fuzzy PD Plus I Control-based Adapt..." refers methods in this paper
...In an ACC system, the speed of the vehicle is automatically controlled comparing to the speed set by the client [5,6]....
[...]
TL;DR: A summary of tuning rules for the PID control of single input, single output (SISO) processes with time delay is provided in this paper.
95 citations
"Fuzzy PD Plus I Control-based Adapt..." refers methods in this paper
...Ziegler–Nichols (Z-N) open-loop tuning method [30,31] has used for tuning the PID controllers to find the values of open-loop gain Km, the loop time constant Tm, and the loop apparent dead time tm....
[...]
01 Mar 2008-International Journal of Human-computer Studies \/ International Journal of Man-machine Studies
TL;DR: Analysis of the behavior of drivers using Adaptive Cruise Control within the theoretical framework of Human-Machine Cooperation shows that high-use drivers seemed to cooperate more with ACC than low- use drivers, who tended to perceive more risk and a higher workload.
Abstract: This paper analyzes the behavior of drivers using Adaptive Cruise Control (ACC) within the theoretical framework of Human-Machine Cooperation. The study was carried out on a driving simulator. Driving task performance data and responses to a trust questionnaire were analyzed in order to examine the relationship between driver reliance on ACC and such intervening variables as trust, perceived workload and perceived risk. The participants were divided a posteriori into two groups according to their use of the ACC device during the experimental run. The results show that high-use drivers seemed to cooperate more with ACC than low-use drivers, who tended to perceive more risk and a higher workload. These findings are discussed in the light of Riley's theory of operator reliance on automation.
88 citations
"Fuzzy PD Plus I Control-based Adapt..." refers methods in this paper
...In an ACC system, the speed of the vehicle is automatically controlled comparing to the speed set by the client [5,6]....
[...]