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Showing papers on "PID controller published in 2013"


Journal ArticleDOI
TL;DR: Model-free control and the corresponding ‘intelligent’ PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account.
Abstract: ''Model-free control'' and the corresponding ''intelligent'' PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account. The basics of model-free control is now employing some old functional analysis and some elementary differential algebra. The estimation techniques become quite straightforward via a recent online parameter identification approach. The importance of iPIs and especially of iPs is deduced from the presence of friction. The strange industrial ubiquity of classic PID's and the great difficulty for tuning them in complex situations is deduced, via an elementary sampling, from their connections with iPIDs. Several numerical simulations are presented which include some infinite-dimensional systems. They demonstrate not only the power of our intelligent controllers but also the great simplicity for tuning them.

645 citations


Patent
03 Jan 2013
TL;DR: In this paper, the authors present a system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor, and an external Internet-connected control server associated with control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon.
Abstract: A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

590 citations


Journal ArticleDOI
TL;DR: A new PID controller for resistant differential control against load disturbance is introduced that can be used for load frequency control (LFC) application and a comparison between this controller and two other prevalent PI controllers, optimized by GA and Neural Networks, has been done which represents advantages of this controller over others.
Abstract: A new PID controller for resistant differential control against load disturbance is introduced that can be used for load frequency control (LFC) application. Parameters of the controller have been specified by using imperialist competitive algorithm (ICA). Load disturbance, which is due to continuous and rapid changes of small loads, is always a problem for load frequency control of power systems. This paper introduces a new method to overcome this problem that is based on filtering technique which eliminates the effect of this kind of disturbance. The object is frequency regulation in each area of the power system and decreasing of power transfer between control areas, so the parameters of the proposed controller have been specified in a wide range of load changes by means of ICA to achieve the best dynamic response of frequency. To evaluate the effectiveness of the proposed controller, a three-area power system is simulated in MATLAB/SIMULINK. Each area has different generation units, so utilizes controllers with different parameters. Finally a comparison between the proposed controller and two other prevalent PI controllers, optimized by GA and Neural Networks, has been done which represents advantages of this controller over others.

287 citations


Journal ArticleDOI
TL;DR: In this article, a two area thermal system with governor dead-band nonlinearity is considered for the design and analysis purpose and differential evolution (DE) algorithm based on parallel 2-Degree Freedom of Proportional-Integral-Derivative (2-DOF PID) controller for Load Frequency Control (LFC) of interconnected power system is presented.

272 citations


Journal ArticleDOI
01 Dec 2013
TL;DR: The effectiveness of the hBFOA-PSO algorithm has been tested for automatic generation control (AGC) of an interconnected power system and the superiority of the proposed approach is shown by comparing the results of craziness based particle swarm optimization (CRAZYPSO) approach.
Abstract: In the bacteria foraging optimization algorithm (BFAO), the chemotactic process is randomly set, imposing that the bacteria swarm together and keep a safe distance from each other. In hybrid bacteria foraging optimization algorithm and particle swarm optimization (hBFOA-PSO) algorithm the principle of swarming is introduced in the framework of BFAO. The hBFOA-PSO algorithm is based on the adjustment of each bacterium position according to the neighborhood environment. In this paper, the effectiveness of the hBFOA-PSO algorithm has been tested for automatic generation control (AGC) of an interconnected power system. A widely used linear model of two area non-reheat thermal system equipped with proportional-integral (PI) controller is considered initially for the design and analysis purpose. At first, a conventional integral time multiply absolute error (ITAE) based objective function is considered and the performance of hBFOA-PSO algorithm is compared with PSO, BFOA and GA. Further a modified objective function using ITAE, damping ratio of dominant eigenvalues and settling time with appropriate weight coefficients is proposed to increase the performance of the controller. Further, robustness analysis is carried out by varying the operating load condition and time constants of speed governor, turbine, tie-line power in the range of +50% to -50% as well as size and position of step load perturbation to demonstrate the robustness of the proposed hBFOA-PSO optimized PI controller. The proposed approach is also extended to a non-linear power system model by considering the effect of governor dead band non-linearity and the superiority of the proposed approach is shown by comparing the results of craziness based particle swarm optimization (CRAZYPSO) approach for the identical interconnected power system. Finally, the study is extended to a three area system considering both thermal and hydro units with different PI coefficients and comparison between ANFIS and proposed approach has been provided.

267 citations


Journal ArticleDOI
TL;DR: In this paper, the design and performance analysis of differential evolution algorithm based Proportional Integral Time multiply Absolute Error (ITAE), damping ratio of dominant eigenvalues and settling time with appropriate weight coefficients are derived in order to increase the performance of the controller.

255 citations


Proceedings ArticleDOI
06 May 2013
TL;DR: A quadrotor with a new arm designed for assembly tasks and the implementation of the proposed control methods for the control of the aerial platform taking into account the motion of the arm are presented.
Abstract: This paper deals with aerial manipulators consisting of an unmanned aerial vehicle equipped with a robotic multi-link arm. The paper presents methods for the control of the aerial platform taking into account the motion of the arm. It shows how a Variable Parameter Integral Backstepping controller outperforms the results obtained by using PID controllers. The paper presents a quadrotor with a new arm designed for assembly tasks and the implementation of the proposed control methods. Simulations and outdoor experiments confirm the validity of the proposed approach.

247 citations


Journal ArticleDOI
TL;DR: In this paper, an application of the novel artificial intelligent search technique to find the parameters optimization of nonlinear Load Frequency Controller (LFC) considering Proportional Integral Derivative controller (PID) for a power system is presented.

223 citations


Journal ArticleDOI
TL;DR: A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article, where SISO approach is implemented for control structure to achieve desired objectives, the performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness.
Abstract: A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure to achieve desired objectives. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness. A comparison is done between designed controller and back-step controller applied to main model of quadrotor. The results of simulation show the effectiveness of designed control scheme.

191 citations


Proceedings ArticleDOI
17 May 2013
TL;DR: This paper aims to present a comparison between different controllers to be used in a dynamic model of a quadcopter platform and results were obtained through simulations for 10 different attitudes of the quadcopters.
Abstract: This paper aims to present a comparison between different controllers to be used in a dynamic model of a quadcopter platform. The controllers assumed in this work are an ITAE tuned PID, a classic LQR controller and a PID tuned with a LQR loop. The results were obtained through simulations for 10 different attitudes of the quadcopter, however, in this paper simulation results will be presented for the vertical attitude only (the remainder are analogous and were omitted for brevity).

176 citations


Journal ArticleDOI
TL;DR: The superiority of the proposed NSGA-II optimized PI/PID controllers has been shown by comparing the results with some recently published modern heuristic optimization approaches such as Bacteria Foraging Optimization Algorithm, Genetic Algorithm and Craziness based Particle Swarm Optimization for the similar interconnected power systems.

Journal ArticleDOI
TL;DR: In this article, a unified view of model-free control and intelligent PID controllers is presented, where the new advances are taken into account, and several numerical simulations are presented which demonstrate not only the power of intelligent controllers but also the great simplicity for tuning them.
Abstract: "Model-free control" and the corresponding "intelligent" PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account. The basics of model-free control is now employing some old functional analysis and some elementary differential algebra. The estimation techniques become quite straightforward via a recent online parameter identification approach. The importance of iPIs and especially of iPs is deduced from the presence of friction. The strange industrial ubiquity of classic PID's and the great difficulty for tuning them in complex situations is deduced, via an elementary sampling, from their connections with iPIDs. Several numerical simulations are presented which include some infinite-dimensional systems. They demonstrate not only the power of our intelligent controllers but also the great simplicity for tuning them.

Journal ArticleDOI
TL;DR: A new control structure with a tuning method to design a PID load frequency controller for power systems and the proposed method improves the load disturbance rejection performance significantly even in the presence of the uncertainties in plant parameters.
Abstract: A new control structure with a tuning method to design a PID load frequency controller for power systems is presented. Initially, the controller is designed for single area power system, then it is extended to multi-area case. The controller parameters are obtained by expanding controller transfer function using Laurent series. Relay based identification technique is adopted to estimate power system dynamics. Robustness studies on stability and performance are provided, with respect to uncertainties in the plant parameters. The proposed scheme ensures that overall system remains asymptotically stable for all bounded uncertainties and for system oscillations. Simulation results show the feasibility of the approach and the proposed method improves the load disturbance rejection performance significantly even in the presence of the uncertainties in plant parameters.

Journal ArticleDOI
TL;DR: In this article, a simplified optimal trajectory control (SOTC) for the LLC resonant converter is proposed, where a linear compensator such as proportionalintegral or proportional-integral-derivative (PID) is used, controlling the switching frequency to eliminate the steady state error.
Abstract: In this paper, a simplified optimal trajectory control (SOTC) for the LLC resonant converter is proposed. During the steady state, a linear compensator such as proportional-integral or proportional-integral-derivative (PID) is used, controlling the switching frequency fs to eliminate the steady-state error. However, during load transients, the SOTC method takes over, immediately changing the pulse widths of the gate-driving signals. Using the state-plane analysis, the pulse widths are estimated, letting the state variables track the optimal trajectory locus in the minimum period of time. The proposed solution is implemented in a digital controller, and experimental results show that while the digital logic requirement is very small, the performance improvement is significant.

Journal ArticleDOI
TL;DR: Semiglobal asymptotic stability of the neural PID control and local asymPTotic stability for the linear PID control with a velocity observer are proved with standard weight training algorithms, which give explicit selection methods for the gains of thelinear PID control.
Abstract: In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.

Journal ArticleDOI
TL;DR: A novel optimal design of the PID controller in the AVR system is presented by using the Taguchi combined genetic algorithm (TCGA) method to minimize the maximum percentage overshoot, the rise time, the settling time, and the steady-state error of the terminal voltage of the synchronous generator.
Abstract: The optimum design of the proportional-integral-derivative (PID) controller plays an important role in achieving a satisfactory response in the automatic voltage regulator (AVR) system. This paper presents a novel optimal design of the PID controller in the AVR system by using the Taguchi combined genetic algorithm (TCGA) method. A multiobjective design optimization is introduced to minimize the maximum percentage overshoot, the rise time, the settling time, and the steady-state error of the terminal voltage of the synchronous generator. The proportional gain, the integral gain, the derivative gain, and the saturation limit define the search space for the optimization problem. The approximate optimum values of the design variables are determined by the Taguchi method using analysis of means. Analysis of variance is used to select the two most influential design variables. A multiobjective GA is used to obtain the accurate optimum values of these two variables. MATLAB toolboxes are used for this paper. The effectiveness of the proposed method is then compared with that of the earlier GA method and the particle swarm optimization method. With this proposed TCGA method, the step response of the AVR system can be improved.

Journal ArticleDOI
TL;DR: The simulation results demonstrate the effectiveness of the proposed adaptive FGS-PID and show that this approach can achieve a good maximum power operation under any conditions such as different levels of solar radiation and PV cell temperature for varying PV sources.

Journal ArticleDOI
TL;DR: In this article, the simulation results of using a static synchronous compensator (STATCOM) to achieve damping improvement of an offshore wind farm (OWF) fed to a multi-machine system is presented.
Abstract: In this paper, the simulation results of using a static synchronous compensator (STATCOM) to achieve damping improvement of an offshore wind farm (OWF) fed to a multi-machine system is presented. The operating performance of the studied OWF is simulated by an equivalent aggregated doubly-fed induction generator (DFIG) driven by an equivalent aggregated wind turbine (WT) through an equivalent gearbox. A PID damping controller and a hybrid PID plus fuzzy logic controller (FLC) of the proposed STATCOM are designed to contribute adequate damping characteristics to the dominant modes of the studied system under various operating conditions. A frequency-domain approach based on a linearized system model using root-loci technique and a time-domain scheme based on a nonlinear system model subject to a three-phase short-circuit fault at the connected bus are systematically performed to examine the effectiveness of the proposed control schemes. It can be concluded from the comparative simulated results that the proposed STATCOM joined with the designed hybrid PID plus FLC is shown to be superior for improving the stability of the studied system subject to a severe disturbance than the PID controller.

Book
30 Oct 2013
TL;DR: In this article, the Laplace Transform is used to measure the stability of a UAV's acceleration and deceleration in a 2D MIMO-based system with a single-axis accelerometer and gyroscope.
Abstract: Part I: Introductory Material Introduction Introduction Introduction to Control Systems Definitions Historical Background Control System: A Human Being Digital Control Development Mathematical Background Engineering Control Problem Computer Literacy Outline of Text Unmanned Aircraft Vehicles Introduction Twentieth-Century UAV R&D Predator Grim Reaper (US Air Force Fact Sheet MQ-9 Reaper, Posted on January 5, 2012) RQ-4 Global Hawk (US Air Force Fact Sheet RQ-4 Global Hawk, Posted on January 19, 2012) Wind Energy Control Systems Introduction Concurrent Engineering: A Road Map for Systems Design: Energy Example QFT Controller Design CAD Toolbox Frequency Domain Analysis Introduction Steel Mill Ingot Electrocardiographic Monitoring Control Theory: Analysis and Design of Control Systems Part II: Analog Control Systems Writing System Equations Introduction Electric Circuits and Components State Concepts Transfer Function and Block Diagram Mechanical Translation Systems Analogous Circuits Mechanical Rotational Systems Effective Moment of Inertia and Damping of a Gear Train Thermal Systems Hydraulic Linear Actuator Liquid-Level System Rotating Power Amplifiers DC Servomotor AC Servomotor Lagrange's Equation Solution of Differential Equations Introduction Standard Inputs to Control Systems Steady-State Response: Sinusoidal Input Steady-State Response: Polynomial Input Transient Response: Classical Method Definition of Time Constant Example: Second-Order System (Mechanical) Example: Second-Order System (Electrical) Second-Order Transients Time-Response Specifications CAD Accuracy Checks State-Variable Equations Characteristic Values Evaluating the State Transition Matrix Complete Solution of the State Equation Laplace Transform Introduction Definition of the Laplace Transform Derivation of Laplace Transforms of Simple Functions Laplace Transform Theorems CAD Accuracy Checks Application of the Laplace Transform to Differential Equations Inverse Transformation Heaviside Partial-Fraction Expansion Theorems MATLAB(R) Partial-Fraction Example Partial-Fraction Shortcuts Graphical Interpretation of Partial-Fraction Coefficients Frequency Response from the Pole-Zero Diagram Location of Poles and Stability Laplace Transform of the Impulse Function Second-Order System with Impulse Excitation Solution of State Equation Evaluation of the Transfer-Function Matrix MATLAB(R) Script For MIMO Systems System Representation Introduction Block Diagrams Determination of the Overall Transfer Function Standard Block-Diagram Terminology Position-Control System Simulation Diagrams Signal Flow Graphs State Transition Signal Flow Graph Parallel State Diagrams from Transfer Functions Diagonalizing the A Matrix Use of State Transformation for the State-Equation Solution Transforming A Matrix with Complex Eigenvalues Transforming an A Matrix into Companion Form Using MATLAB(R) to Obtain the Companion A Matrix Control-System Characteristics Introduction Routh's Stability Criterion Mathematical and Physical Forms Feedback System Types Analysis of System Types Example: Type 2 System Steady-State Error Coefficients CAD Accuracy Checks: CADAC Use of Steady-State Error Coefficients Nonunity-Feedback System Root Locus Introduction Plotting Roots of a Characteristic Equation Qualitative Analysis of the Root Locus Procedure Outline Open-Loop Transfer Function Poles of the Control Ratio C(s)/R(s) Application of the Magnitude and Angle Conditions Geometrical Properties (Construction Rules) CAD Accuracy Checks Root Locus Example Example of Section 10.10: MATLAB(R) Root Locus Root Locus Example with an RH Plane Zero Performance Characteristics Transport Lag Synthesis Summary of Root-Locus Construction Rules for Negative Feedback Frequency Response Introduction Correlation of the Sinusoidal and Time Response Frequency-Response Curves Bode Plots (Logarithmic Plots) General Frequency-Transfer-Function Relationships Drawing the Bode Plots Example of Drawing a Bode Plot Generation of MATLAB(R) Bode Plots System Type and Gain as Related to Log Magnitude Curves CAD Accuracy Check Experimental Determination of Transfer Function Direct Polar Plots Summary: Direct Polar Plots Nyquist Stability Criterion Examples of the Nyquist Criterion Using Direct Polar Plots Nyquist Stability Criterion Applied to a System Having Dead Time Definitions of Phase Margin and Gain Margin and Their Relation to Stability Stability Characteristics of the Log Magnitude and Phase Diagram Stability from the Nichols Plot (Log Magnitude-Angle Diagram) Closed-Loop Tracking Performance Based on Frequency Response Introduction Direct Polar Plot Determination of Mm and omegam for a Simple Second-Order System Correlation of Sinusoidal and Time Responses Constant M(omega) and alpha(omega) Contours of C(Jomega)/R(Jomega) on the Complex Plane (Direct Plot) Constant 1/M and alpha Contours (Unity Feedback) in the Inverse Polar Plane Gain Adjustment of a Unity-Feedback System for a Desired Mm: Direct Polar Plot Constant M and alpha Curves on the Log Magnitude-Angle Diagram (Nichols Chart) Generation of MATLAB(R) Bode and Nyquist Plots Adjustment of Gain by Use of the Log Magnitude-Angle Diagram (Nichols Chart) Correlation of the Pole-Zero Diagram with Frequency and Time Responses Part III: Compensation: Analog Systems Root-Locus Compensation: Design Introduction to Design Transient Response: Dominant Complex Poles Additional Significant Poles Root-Locus Design Considerations Reshaping the Root Locus CAD Accuracy Checks Ideal Integral Cascade Compensation (PI Controller) Cascade Lag Compensation Design Using Passive Elements System Ideal Derivative Cascade Compensation (PD Controller) Lead Compensation Design Using Passive Elements General Lead-Compensator Design Lag-Lead Cascade Compensation Design System Comparison of Cascade Compensators PID Controller Introduction to Feedback Compensation Feedback Compensation: Design Procedures Simplified Rate Feedback Compensation: A Design Approach Design of Rate Feedback Design: Feedback of Second Derivative of Output Results of Feedback-Compensation Design Rate Feedback: Plants with Dominant Complex Poles Frequency-Response Compensation Design Introduction to Feedback Compensation Design Selection of a Cascade Compensator Cascade Lag Compensator Design Example: Cascade Lag Compensation Cascade Lead Compensator Design Example: Cascade Lead Compensation Cascade Lag-Lead Compensator Design Example: Cascade Lag-Lead Compensation Feedback Compensation Design Using Log Plots Design Example: Feedback Compensation (Log Plots) Application Guidelines: Basic Minor-Loop Feedback Compensators Part IV: Advanced Topics Control-Ratio Modeling Introduction Modeling a Desired Tracking Control Ratio Guillemin - Truxal Design Procedure Introduction to Disturbance Rejection Second-Order Disturbance-Rejection Model Disturbance-Rejection Design Principles for SISO Systems Disturbance-Rejection Design Example Disturbance-Rejection Models Design: Closed-Loop Pole-Zero Assignment (State-Variable Feedback) Introduction Controllability and Observability State Feedback for SISO Systems State-Feedback Design for SISO Systems Using the Control Canonical (Phase-Variable) Form State-Variable Feedback (Physical Variables) General Properties of State Feedback (Using Phase Variables) State-Variable Feedback: Steady-State Error Analysis Use of Steady-State Error Coefficients State-Variable Feedback: All-Pole Plant Plants with Complex Poles Compensator Containing a Zero State-Variable Feedback: Pole-Zero Plant Observers Control Systems Containing Observers Parameter Sensitivity and State-Space Trajectories Introduction Sensitivity Sensitivity Analysis Sensitivity Analysis Examples Parameter Sensitivity Examples Inaccessible States State-Space Trajectories Linearization (Jacobian Matrix) Part V: Digital Control Systems Sampled-Data Control Systems Introduction Sampling Ideal Sampling Z Transform Theorems Differentiation Process Synthesis in the z Domain (Direct Method) Inverse Z Transform Zero-Order Hold Limitations Steady-State Error Analysis for Stable Systems Root-Locus Analysis for Sampled-Data Control Systems Digital Control Systems Introduction Complementary Spectra Tustin Transformation: s- to z-Plane Transformation z-Domain to the w- and w'-Domain Transformations Digitization Technique Digitization Design Technique Pseudo-Continuous-Time Control System Design of Digital Control System Direct Compensator PCT Lead Cascade Compensation PCT Lag Compensation PCT Lag-Lead Compensation Feedback Compensation: Tracking Controlling Unwanted Disturbances Extensive Digital Feedback Compensator Example Controller Implementation Appendix A: Table of Laplace Transform Pairs Appendix B: Matrix Linear Algebra Appendix C: Introduction to MATLAB(R) and Simulink(R) Appendix D: Conversion of Units Problems Answers to Selected Problems Index

Journal ArticleDOI
TL;DR: An improved evolutionary Non-dominated Sorting Genetic Algorithm, augmented with a chaotic Henon map is used for the multi-objective optimization based design procedure, which outperforms the original NSGA-II algorithm and its Logistic map assisted version for obtaining a better design trade-off with an FOPID controller.

Journal ArticleDOI
TL;DR: In this paper, a first attempt has been made to develop a small perturbation model to study the frequency response of a combined cycle gas turbine (CCGT) power plant, following a small step load perturbations (SLP), which has been used for the first time in frequency control in CCGT plant for optimization of controller gains.

Journal ArticleDOI
TL;DR: In this article, variable structure fuzzy gain scheduling is proposed for solving the load frequency control problem of multi-source multi-area hydro thermal power system, where two control areas are connected via tie line.

Journal ArticleDOI
Mikulas Huba1
TL;DR: In this paper, the authors consider PI controller tuning for the Integral Plus Dead Time (IPDT) plant subject to constraints on tolerable deviations from ideal shapes and guaranteeing minimal combined IAE (Integral of Absolute Error) measure composed of weighted IAE values of the setpoint and disturbance step responses.

Journal ArticleDOI
TL;DR: The impact of fractional order (as any arbitrary real order) cost function on the LQR tuned PID control loops is highlighted in the present work, along with the achievable cost of control.

Journal ArticleDOI
TL;DR: A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor and the PID gains are tuned using a self- Tuning fuzzy algorithm.
Abstract: This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.

Journal ArticleDOI
TL;DR: In this paper, a stochastic, multi-parameters, divergence optimization method for the auto-tuning of proportional-integral-derivative (PID) controllers according to a fractional-order reference model is presented.

Journal ArticleDOI
TL;DR: In this paper, the authors present a method for design and control of dc-bus capacitance and transients in a renewable single-phase grid-connected converter, without neglecting the dynamics of the current control loop.
Abstract: This paper presents a method for design and control of dc-bus capacitance and transients in a renewable single-phase grid-connected converter. Conventionally, a proportional (P) or proportional-integrating (PI) controller is commonly used and the design stage is performed using trial-error or using a simplified analysis that does not take the dynamics of the current control loop into consideration. This paper proposes 1) a systematic and efficient method for design of dc-bus PI controller gains; and 2) an accurate method for the design of the dc-bus controller gains without neglecting the dynamics of the current control loop. Two main objectives are to have control over the amount of output current harmonics and over the level of bus fluctuations caused by random input power swings. The proposed method is transparent and it provides a convenient and rigorous insight for the designer to properly select the size of dc-bus component and to determine the controller gains.

Journal ArticleDOI
TL;DR: The optimal design, fabrication, and control of a novel compliant flexure-based totally decoupled XY micropositioning stage driven by electromagnetic actuators that can bear a heavy load because of its optimal mechanical structure is presented.
Abstract: This paper presents the optimal design, fabrication, and control of a novel compliant flexure-based totally decoupled XY micropositioning stage driven by electromagnetic actuators. The stage is constructed with a simple structure by employing double four-bar parallelogram flexures and four noncontact types of electromagnetic actuators to realize the kinematic decoupling and force decoupling, respectively. The kinematics and dynamics modeling of the stage are conducted by resorting to compliance and stiffness analysis based on matrix method, and the parameters are obtained by multiobjective genetic algorithm (GA) optimization method. The analytical models for electromagnetic forces are also established, and both mechanical structure and electromagnetic models are validated by finite-element analysis via ANSYS software. It is found that the system is with hysteresis and nonlinear characteristics when a preliminary open-loop test is conducted; thereafter, a simple PID controller is applied. Therefore, an inverse Preisach model-based feedforward sliding-mode controller is exploited to control the micromanipulator system. Experiments show that the moving range can achieve 1 mm t 1 mm and the resolution can reach ±0.4 μm. Moreover, the designed micromanipulator can bear a heavy load because of its optimal mechanical structure.

Proceedings ArticleDOI
17 Jul 2013
TL;DR: This paper describes how PID controllers can be designed by optimizing performance subject to robustness constraints by using convex-concave programming.
Abstract: This paper describes how PID controllers can be designed by optimizing performance subject to robustness constraints. The optimization problem is solved using convex-concave programming. The method admits general process descriptions in terms of frequency response data and it can cope with many different constraints. Examples are presented and some pitfalls in optimization are discussed.

Journal ArticleDOI
TL;DR: In this paper, a fractional pole-based PID controller is proposed to characterize the reaction curve of a S-shaped reaction curve in the first order plus time delay model with a single pole replacing the integer order pole.