- Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Lebuhraya Tun Razak, 26300, Kuantan, Pahang, Malaysia.
- Mohd Ashraf Ahmad received his first degree in B.Eng Electrical Mechatronics and Master Degree in M.Eng Mechatronics ... moreMohd Ashraf Ahmad received his first degree in B.Eng Electrical Mechatronics and Master Degree in M.Eng Mechatronics and Automatic Control from University of Technology Malaysia (UTM) in 2006 and 2008, respectively. In 2015, he received a Ph.D in Informatics (Systems Science) from Kyoto University. Currently, he is an Associate Professor in the Faculty of Electrical and Electronics Engineering Technology, University Malaysia Pahang (UMP). His current research interests are model-free control, control of Mechatronic systems, nonlinear system identification and vibration control. He has been serving as Associate Editor for the International Journal of Electrical and Computer Engineering since 2016, Applications of Modelling and Simulation since 2017, and Journal of Future Robot Life since 2019.edit
This paper presents a new hybrid identification algorithm called the Average Multi-Verse Optimizer and Sine Cosine Algorithm for identifying the continuous-time Hammerstein system. In this paper, two modifications were employed on the... more
This paper presents a new hybrid identification algorithm called the Average Multi-Verse Optimizer and Sine Cosine Algorithm for identifying the continuous-time Hammerstein system. In this paper, two modifications were employed on the conventional Multi-Verse Optimizer. Our first modification was an average design parameter updating mechanism to solve the local optima issue. The second modification was the hybridization of Multi-Verse Optimizer with Sine Cosine Algorithm that will balance the exploration and exploitation processes and thus improve the poor searching capability. The proposed hybrid method was used for identifying the parameters of linear and nonlinear subsystems in the Hammerstein model using the given input and output data. A continuous-time linear subsystem was considered in this study, while there were a few methods that utilize such models. Furthermore, various nonlinear subsystems such as the quadratic and hyperbolic functions had been used in those experiments. The efficiency of the novel technique is illustrated using a numerical example and two real-world applications, which are a twin rotor system and a flexible manipulator system. The numerical and experimental results analysis were observed with respect to the convergence curve of the fitness function, the parameter deviation index, time-domain and frequency-domain responses of the identified model, and the Wilcoxon's rank test. The results showed that the proposed method was efficient in identifying both the Hammerstein model subsystems in terms of the quadratic output estimation error and parameter deviation index. The proposed hybrid method also achieved better performance in modeling of the twin-rotor system as well as the flexible manipulator system and provided better solutions compared to other optimization methods including Particle Swarm Optimizer, Grey Wolf Optimizer, Multi-Verse Optimizer and Sine Cosine Algorithm.
Research Interests:
Automatic Voltage Regulator (AVR) is fabricated to sustain the voltage level of a synchronous generator spontaneously. Several control strategies have been introduced into the AVR system with the aim of gaining a better dynamic response.... more
Automatic Voltage Regulator (AVR) is fabricated to sustain the voltage level of a synchronous generator spontaneously. Several control strategies have been introduced into the AVR system with the aim of gaining a better dynamic response. One of the most universally utilized controllers is the Proportional-Integral-Derivative (PID) controller. Despite the PID controller having a relatively high dynamic response, there are still further possibilities to improve in order to obtain more appropriate responses. This paper designed a sigmoid-based PID (SPID) controller for the AVR system in order to allow for an accelerated settling to rated voltage, as well as increasing the control accuracy. In addition, the parameters of the proposed SPID controller are obtained using an enhanced self-tuning heuristic optimization method called Nonlinear Sine Cosine Algorithm (NSCA), for achieving a better dynamic response, particularly with regards to the steady-state errors and overshoot of the system. A time-response specifications index is used to validate the proposed SPID controller. The obtained simulation results revealed that the proposed method was not only highly effective but also greatly improved the AVR system transient response in comparison to those with the modern heuristic optimization based PID controllers.
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This paper presents the implementation of motor speed control using Proportional Integral Derrivative (PID) controller using Programmable Logic Controller (PLC). Proportional Integral Derrivative (PID) controller is the technique used to... more
This paper presents the implementation of motor speed control using Proportional Integral Derrivative (PID) controller using Programmable Logic Controller (PLC). Proportional Integral Derrivative (PID) controller is the technique used to actively control the speed of the motor. An AC motor is used in the research together with the PLC, encoder and Proface touch screen. The model of the PLC that has been used in this project is OMRON CJIG-CPU42P where this PLC has a build in loop control that can be made the ladder diagram quite simple using function block in CX-process tools. A complete experimental analysis of the technique in terms of system response is presented. Comparative assessment of the impact of Proportional, Integral and Derivative in the controller on the system performance is presented and discussed.
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This paper presents the detailed account on the control design for input tracking of a buck converter driven dc motor. Proportional-Integral (PI), Proportional-Integral-type Fuzzy Logic controller (PI-type FLC) and Linear Quadratic... more
This paper presents the detailed account on the control design for input tracking of a buck converter driven dc motor. Proportional-Integral (PI), Proportional-Integral-type Fuzzy Logic controller (PI-type FLC) and Linear Quadratic Regulator (LQR) are the techniques proposed in this investigation to control the speed of a dc motor. The dynamic system composed from buck-converter/dc motor is considered in this investigation and derived in the state-space and transfer function forms. Complete analyses of simulation results for PI, PI-type FLC and LQR techniques are presented in frequency domain and time domain. Performances of the controllers are examined in terms of input tracking capability, duty cycle input energy and armature current. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.
Research Interests: Electrical Engineering, Mechanical Engineering, Control Systems Engineering, Artificial Intelligence, Power Electronics, and 11 moreMechatronics, Fuzzy Logic Control, Motor Control, Numerical Analysis, Computational Mathematics, Simulation, Dynamic Systems and Control, Information Technology and System Integration, Optimization Technology, System Modeling and Simulation, and Integration Technology of Automation Systems
Problem statement: Accuracy and stability of many systems in chemical and process industries which has Two-Input Two-Output (TITO) is one of the key factors of process which have cross coupling between process input and output. Approach:... more
Problem statement: Accuracy and stability of many systems in chemical and process industries which has Two-Input Two-Output (TITO) is one of the key factors of process which have cross coupling between process input and output. Approach: Unlike traditional neural network weight adaptation using gradient descent method, Particles Swarm Optimization (PSO) technique was utilized for adaptive tuning of neural network weights adjustment and fine tuning the controller’s parameters. Design approach for controlling liquid levels of Coupled Tank TITO system by using hybrid PI-Neural Network (hybrid PI-NN) controllers. Results: Tuning method for parameters of improved hybrid PI-NN controller was also discussed. Conclusion: Performances of proposed method also compared with PID-NN controllers, it was shown that hybrid PI-NN controller exhibited better performance in terms of transient response analysis.
Research Interests:
"This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic... more
"This paper presents the use of anti-sway angle control
approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed."
approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed."
Research Interests:
This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the... more
This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, an LQR control is developed for cart position control of a gantry crane. This is then extended to incorporate input shaper control schemes for anti-sway control of the system. The positive and new modified specified negative amplitude (SNA) input shapers are then designed based on the properties of the system for control of system sway. The new SNA is proposed to improve the robustness capability while increasing the speed of the system response. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the of the hybrid control schemes are examined in terms of input tracking capability, level of sway reduction and robustness to parameters uncertainty. A comparative assessment of the hybrid controllers to the system performance is presented and discussed.
Research Interests:
Overhead cranes are widely used in industry for transportation of heavy loads. The natural sway of crane payloads is detrimental to safe and efficient operation. However, the crane acceleration, required for motion, always induces... more
Overhead cranes are widely used in industry for transportation of heavy loads. The natural sway of crane payloads is detrimental to safe and efficient operation. However, the crane acceleration, required for motion, always induces undesirable load swing. This paper presents dynamic modelling of a 3-D overhead gantry crane system based on closed-form equations of motion. The Lagrangian method is used to derive the dynamic model of the system. A dynamic model of the system incorporating payload and rope length is developed. Then the effects of payload and rope length on the response of the system are discussed. Extensive results that validate the theoretical derivation are presented in the time and frequency domains.
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This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is... more
This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. In order to investigate real-time implementation of the controllers, the embedded input shaping is programmed in PIC microchip and tested to the flexible manipulator model in Matlab. The investigation results of the response of the manipulator to the shaped inputs are presented in time and frequency domains. The performance of the controllers in real-time are investigated in terms of the level of vibration reduction and time response specifications.
This paper provides a model-free approach based on the Multi-Resolution Simultaneous Perturbation Stochastic Approximation (MR-SPSA) for maximizing power production of wind farms. The main advantage is that the method based on MR-SPSA can... more
This paper provides a model-free approach based on the Multi-Resolution Simultaneous Perturbation Stochastic Approximation (MR-SPSA) for maximizing power production of wind farms. The main advantage is that the method based on MR-SPSA can achieve fast controller tuning without any plant model by exploiting the information of the wind farm configuration such as turbines location and wind direction. In order to simulate the performance of the model-free scheme, a wind farm model with dynamic characterization of wake interaction between turbines is used and then the proposed method is applied to the Horns Rev wind farm. Simulation results illustrate that the method based on MR-SPSA achieves the maximum total power production with faster convergence compared with other existing model-free methods.
Research Interests: Electrical Engineering, Electronic Engineering, Mechanical Engineering, Control Systems Engineering, Optimization (Mathematical Programming), and 28 moreEnergy Economics, Power Electronics, Renewable Energy, Wind Energy, Mechatronics, Control Engineering, Wind Engineering, Energy, Energy Policy, Power System, Energy Efficiency Buildings, Optimization techniques, Automatic Control, Energy and Environment, Renewable energy resources, Wind Energy (Engineering), Data-driven Decision Making, Energy efficiency, Computational Mathematics, Control Systems, Electric Power Systems, Optimization, Wind Power, Solar Energy, Wind turbine, Stochastic Optimization, Vertical Axis Wind Turbine (VAWT), and Hybrid Power from solar and wind energy
This paper presents experimental investigations into the development of hybrid input shaping and PID control for vibration suppression and input tracking of a flexible robot manipulator. Initially, a PID controller is... more
This paper presents experimental investigations into the development of hybrid input shaping and PID control for vibration suppression and input tracking of a flexible robot manipulator. Initially, a PID controller is developed for control of rigid-body motion of the system. This is then extended to incorporate a feedforward controller based on input shaping techniques for vibration control. Experimental results of the response of the manipulator with the controllers are presented in time and frequency domain. The effects of derivative order of the input shaper on the performance of the system are also investigated. The performances of the hybrid control schemes are assessed in terms of input tracking capability and level of vibration reduction in comparison to the PID control. Finally, a comparative assessment of the hybrid control schemes is presented.
Research Interests:
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the... more
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initially developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques to control vibration (flexible motion) of the system. For feedforward controller, positive and modified specified negative amplitude (SNA) input shapers are proposed and designed based on the properties of the system. Results from the simulation of the manipulator responses with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
Research Interests:
This paper presents investigations into the development of input shaping techniques for swaying control of a doublependulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is... more
This paper presents investigations into the development of input shaping techniques for swaying control of a doublependulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.
Research Interests:
This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal and Proportional-Derivative (PD)-type fuzzy logic controller are... more
This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal and Proportional-Derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of vibration suppression, disturbances cancellation, time response specifications and input energy. Finally, a comparative assessment of the impact of each controller on the system performance is discussed.
Research Interests:
This paper addresses switching controller design for hybrid electric vehicle systems. The merit of using switching control scheme is that sub-controllers specialized for various driving conditions improve the fuel efficiency. A... more
This paper addresses switching controller design for hybrid electric vehicle systems. The merit of using switching control scheme is that sub-controllers specialized for various driving conditions improve the fuel efficiency. A simultaneous perturbation stochastic approximation (SPSA) based method is used to optimize the design parameters of the switching controller. The design method is applied to the JSAE-SICE benchmark problem which are developed using GT-SUITE of Gamma Technologies, Inc. and integrated with Simulink / MATLAB. Experimental results illustrate that the proposed controller can achieve almost 47% improvement in fuel efficiency, compared with the sample controller of the benchmark problem.
Research Interests: Electrical Engineering, Electronic Engineering, Mechanical Engineering, Stochastic Process, Power Electronics, and 12 moreRenewable Energy, Wind Energy, Nonlinear Dynamics and Stochasticity, Mechatronics, Electronics, Energy, Energy Policy, Stochastic Programming, Energy and Environment, Energy efficiency, Solar Energy, and Stochastic Optimization
This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are... more
This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discussed.
Research Interests:
This paper presents investigations into the development of hybrid control schemes with the applications of input shapers in the command shaping techniques for vibration control and input tracking of a flexible robot manipulator. A... more
This paper presents investigations into the development of hybrid control schemes with the applications of input shapers in the command shaping techniques for vibration control and input tracking of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) is developed for control of rigid body motion. This is then extended to incorporate input shaper control schemes for vibration control of the system. The input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in time and frequency domains. Performances of the hybrid control schemes are examined in terms of level of input tracking capability, vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the hybrid control schemes to the system performance is presented and discussed. The proposed hybrid controllers are capable of reducing the system vibration while maintaining the input tracking performance of the manipulator.
Research Interests:
The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations... more
The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and study the effectiveness of the controllers, a collocated proportional‐derivative (PD)‐type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non‐collocated Fuzzy Logic Controller, a non‐collocated proportional‐integral‐derivative for the The positive zero‐vibration‐derivative‐derivative (ZVDD) shaper is designed based on the properties of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented an discussed.
Research Interests: Mechanical Engineering, Robotics, Mechatronics, Vibrations, Fuzzy Logic Control, and 5 moreIntelligent Control, Vibration Control, Mechatronics & Robotics, Active Vibration Control, and Intelligent Control of Aerospace Vehicles, Robotic Manipulators, Antilock Braking Systems and Active Vehicle Suspension Systems
This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in... more
This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode method. Simulation is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discussed.
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The objective of this paper is to compare the time specification performance between two conventional controllers for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to... more
The objective of this paper is to compare the time specification performance between two conventional controllers for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Linear‐Quadratic‐Regulator (LQR) and Proportional‐Integral‐Derivatives (PID) controllers for controlling the linearized system of inverted pendulum model. Simulation study has been done in Matlab simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that LQR produced better response compared to PID control strategies and is presented in time domain.
Research Interests: Mechanical Engineering, Control Systems Engineering, Artificial Intelligence, Mechatronics, Modeling and Simulation, and 11 moreNumerical Analysis, Automatic Control, Mechatronics & Robotics, Mathematical Modelling, Computational Mathematics, Simulation, Dynamic Systems and Control, Information Technology and System Integration, Optimization Technology, System Modeling and Simulation, and Integration Technology of Automation Systems
"This paper addresses a distributed function calculation in switching topology networks. In particular, a linear iterative strategy is used to perform a general function calculation of the node's initial values. This study shows that if... more
"This paper addresses a distributed function calculation in switching topology networks. In particular, a linear iterative strategy is used to perform a general function calculation of the node's initial values. This study shows that if the union graph of the switching networks is connected, the distributed function calculation can be performed. The distributed algorithm allows the nodes in the switching topology network to reach consensus in a finite number of time-steps, which is upper bounded by the size of network and switching period. The distributed function calculation is approached from the perspective of observability theory and treats the iterative strategy as linear dynamic systems.
Finally, this work shows that if a jointly connected graph in the switching topology network is structurally observable, then each node obtains enough information to perform an arbitrary function calculation."
Finally, this work shows that if a jointly connected graph in the switching topology network is structurally observable, then each node obtains enough information to perform an arbitrary function calculation."
Research Interests:
This paper addresses the performance comparison of simultaneous perturbation stochastic approximation (SPSA) based methods for PID tuning of MIMO systems. Four typical SPSA based methods, which are one-measurement SPSA (1SPSA),... more
This paper addresses the performance comparison of simultaneous perturbation stochastic approximation (SPSA) based methods for PID tuning of MIMO systems. Four typical SPSA based methods, which are one-measurement SPSA (1SPSA), two-measurement SPSA (2SPSA), Global SPSA (GSPSA) and Adaptive SPSA (ASPSA) are examined. Their performances are evaluated by extensive simulation for several controller design examples, in terms of the stability of the closed-loop system, tracking performance and computation time. In addition, the performance of the SPSA based methods are compared to the other stochastic optimization based approaches. It turns out that the GSPSA based algorithm is the most practical in terms of the stability and the tracking performance.
Research Interests: Electrical Engineering, Mechanical Engineering, Control Systems Engineering, Optimization (Mathematical Programming), Computer Science, and 22 moreOptimal Control, Wind Energy, Mechatronics, Optimization (Mathematics), Control Engineering, Soft Computing, Fuzzy Logic Control, Process Control, Optimization techniques, Automatic Control, Mechatronics & Robotics, Automation & COntrol, MIMO Systems, Data-driven Decision Making, Flight Dynamics and Control, Control Systems, Model Free Methods, Wind turbine, PID controller design, Stochastic Optimization, Dynamic Systems and Control, and Electrical and Computer Engineering (ECE)
Problem statement: Most of the common gantry crane results in a sway motion when transporting the load as fast as possible. In addition, precise cart position control of gantry crane must required a zero or near zero residual sway.... more
Problem statement: Most of the common gantry crane results in a sway motion when transporting the load as fast as possible. In addition, precise cart position control of gantry crane must required a zero or near zero residual sway. Approach: In this study, the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system was investigated. To study the effectiveness of the controllers, a Proportional-Derivative (PD)-type fuzzy logic control was developed for cart position control of a gantry crane. It was then extended to incorporate input shaper control schemes for anti-sway control of the system. The positive and new modified Specified Negative Amplitude (SNA) input shapers were designed based on the properties of the system for control of system sway. The new SNA was proposed to improve the robustness capability while increasing the speed of the system response. Results: Simulation results of the response of the gantry crane with the controllers were presented in time and frequency domains. The performances of the of the hybrid control schemes were examined in terms of input tracking capability, level of sway reduction and robustness to parameters uncertainty. Conclusion: A significant reduction in the system sways had been achieved with the hybrid controllers regardless of the polarities of the shapers.
Research Interests:
This study presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a Double-Pendulum-Type Overhead Crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic... more
This study presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a Double-Pendulum-Type Overhead Crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method known as the Single Input Fuzzy Logic Controller (SIFLC) reduces the conventional two input FLC (CFLC) to a Single Input Single Output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping and non-collocated parallel Proportional-Integral-Derivative (PID) schemes for both hook and load sway angle suppression. The positive input shapers with the derivative effects are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.
Research Interests:
This study presents investigations into the development of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is... more
This study presents investigations into the development of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a collocated PD controller is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For feedforward controller, the positive and modified Specified Negative Amplitude (SNA) input shapers are proposed and designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications.
Research Interests:
This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and... more
This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.
Research Interests:
This paper proposes an identification method for Hammerstein systems using simultaneous perturbation stochastic approximation (SPSA). Here, the structure of nonlinear subsystem is assumed to be unknown, while the structure of linear... more
This paper proposes an identification method for Hammerstein systems using simultaneous perturbation stochastic approximation (SPSA). Here, the structure of nonlinear subsystem is assumed to be unknown, while the structure of linear subsystem, such as the system order, is assumed to be available. The main advantage of the SPSA-based method is that it can be applied to identification of Hammerstein systems with less restrictive assumptions. In order to clarify this point, piecewise affine functions with a large number of parameters are adopted to approximate the unknown nonlinear subsystems. Furthermore, the linear subsystems are supposed to be described in continuous-time. Though this class of systems closely reflects the actual systems, there are few methods to identify such models. Hence, the SPSA-based method is utilized to identify the parameters in both linear and nonlinear subsystems simultaneously. The effectiveness of the proposed method is evaluated through several numerical examples. The results demonstrate that the proposed algorithm is useful to obtain accurate models, even for high-dimensional parameter identification.
Research Interests: Electrical Engineering, Electronic Engineering, Mechanical Engineering, Control Systems Engineering, Applied Mathematics, and 18 moreStochastic Process, System Identification, Nonlinear Dynamics and Stochasticity, Mechatronics, Optimization (Mathematics), Electronics, Nonlinear dynamics, Optimization techniques, Particle Swarm Optimization, Control Systems, Mechatronics and Robotics, Optimization, Identification, Meta-Heuristics (Tabu Search, Genetic Algorithms, Simulated Annealing, Ant-Colony, Particle Swarm Optimization), Stochastic Optimization, Electronics Engineering, Mechanical, and Electrical and Computer Engineering (ECE)
This paper presents investigations into the development of hybrid fuzzy logic control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is... more
This paper presents investigations into the development of hybrid fuzzy logic control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a proportional-derivative (PD)-type fuzzy logic controller (FLC) is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
Research Interests: Mechanical Engineering, Robotics, Control Systems Engineering, Artificial Intelligence, Robotics (Computer Science), and 14 moreMechatronics, Fuzzy Logic Control, Numerical Analysis, Automatic Control, Vibration Control, Mechatronics & Robotics, Computational Mathematics, Mechatronics Engineering, Simulation, Dynamic Systems and Control, Information Technology and System Integration, Optimization Technology, System Modeling and Simulation, and Integration Technology of Automation Systems
Research Interests:
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of... more
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the composite Fuzzy Logic control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
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This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and... more
This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate feed-forward schemes for anti-swaying control of the system. Feed-forward control schemes based on input shaper and filtering techniques are to be examined. The input shaper and filtering techniques with different orders were designed based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented.
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This paper presents investigations into the development of input shaping with optimal state feedback for trajectory tracking and vibration control of a flexible joint manipulator. A single-link flexible joint manipulator is considered and... more
This paper presents investigations into the development of input shaping with optimal state feedback for trajectory tracking and vibration control of a flexible joint manipulator. A single-link flexible joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, a linear-quadratic regulator (LQR) controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) and new modified specified negative amplitude zero-vibration-derivative-derivative (SNA-ZVDD) input shapers are then designed based on the properties of the system for vibration control. The new SNA-ZVDD is proposed to improve the robustness capability while increasing the speed of the system response. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the LQR with input shaping control schemes are examined in terms of input tracking capability, level of vibration reduction, robustness and time response specifications. A comparative assessment of the positive ZVDD and modified SNA-ZVDD shapers to the hybrid system performance is presented and discussed.
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This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the... more
This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forward control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for anti-sway control. Simulation results of the response of the DPTOC system to the shaped inputs are presented in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.
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Research Interests: Engineering, Electrical Engineering, Control Systems Engineering, Genetics, Control Theory, and 15 moreArtificial Immune Systems, Electronics, Genetic Algorithms, Adaptive Control, Genetic Algorithm, Artificial Immune System, Computational Efficiency, Cloning, Immune system, Industries, Chemical Industries, Artificial Neural Network, Electrical Control, Gradient Descent Method, and Fine tuning
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The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model-based control strategies complex and hard to synthesize. This paper presents investigations into the development of... more
The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model-based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller, a non-collocated proportional-integral-derivative (PID) and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. The implementation results of the response of the flexible joint manipulator with the controller...
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Abstract: This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of... more
Abstract: This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, an LQR control is developed for cart position control of a gantry crane. This is then extended to incorporate input shaper control schemes for anti-sway control of the system. The positive and new ...
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Research Interests: Engineering, Control Systems Engineering, Computer Science, Controller Design, Trajectory, and 14 moreInverted Pendulum, Position Control, Input Shaping, Gantry Cranes, Feedforward, Trajectory Tracking, Euler Lagrange Equation, Hybrid Control, Low Pass Filters, Frequency Domain, dynamic model, Pendulums, Low pass filter, and Feed Forward
Contact force between catenary and pantograph of high speed train is a crucial system to deliver power to the train. The inconsistence force between them can cause the contact wire oscillate a lot and it can damage the mechanical... more
Contact force between catenary and pantograph of high speed train is a crucial system to deliver power to the train. The inconsistence force between them can cause the contact wire oscillate a lot and it can damage the mechanical structure of system and produce electric arc that can reduce the performance of system. This project proposes a single-input fuzzy logic controller (SIFLC) to control the contact force between the pantograph-catenary by implement Safe Experimentation Dynamics (SED) method to tune the SIFLC parameters. The essential feature of SIFLC is that it is model-free type controller design with less pre-defined variables as compared to other existing model-based controllers. The performance of the SIFLC is analyzed in terms of input tracking of contact force of pantograph-catenary and time response specifications. A simplified model of three degree of freedom (3-DOF) pantograph-catenary system is considered. In this study, the simulation result shows that the SIFLC su...
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This paper investigated the implementation of data-driven sigmoid-based secretion rate of neuroendocrine-PID (SbSR-NEPID) within a twin-rotor MIMO system (TRMS), based on the adaptive safe experimentation dynamics (ASED) algorithm. In... more
This paper investigated the implementation of data-driven sigmoid-based secretion rate of neuroendocrine-PID (SbSR-NEPID) within a twin-rotor MIMO system (TRMS), based on the adaptive safe experimentation dynamics (ASED) algorithm. In essence, SbSR-NEPID is developed as a human body-inspired mechanism that promotes accurate and efficient controller structure. The ASED approach was then employed for parameter tuning of the proposed controller, following its role as the data-driven control scheme that tracks error and input control performances. Fundamentally, such a game-theoretic approach would seek optimal parameters through random perturbations of several elements from its controller's parameters. Its application in tracking both performance and computational interval has also gained vast explorations above statistical ground. As such, results obtained from the simulation has demonstrated data-driven SbSR-NEPID control based on the ASED method as a capable approach in tracking the assigned trajectory missions, while yielding exceptional control accuracy beyond the requirement of theoretical assumptions on the plant dynamics.
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The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better... more
The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum's angle and cart's position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Sliding Mode Control (SMC) and Proportional- Integral-Derivatives (PID) controllers for controlling the highly nonlinear system of inverted pendulum model. Simulation study has been done in Matlab Mfile and simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that Sliding Mode Control (SMC) produced better response compared to PID control strategies and the responses are presented in time domain with the details analysis.
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Genetic algorithm (GA) is a well-known population-based optimization algorithm. GA utilizes a random approach in its strategy which inspired from a biological process of a chromosome alteration. Chromosomes which consists of several genes... more
Genetic algorithm (GA) is a well-known population-based optimization algorithm. GA utilizes a random approach in its strategy which inspired from a biological process of a chromosome alteration. Chromosomes which consists of several genes are randomly self-altered their own structure and also randomly combined their structure with other chromosomes. The unique biological process has inspired many researchers to develop an optimization algorithm. Yet, the algorithm still popular and is adopted as a tool to solve many complex problems. On the other hand, Spiral Dynamic Algorithm (SDA) is a relatively new population-based algorithm inspired by a natural spiral phenomenon. It utilizes a deterministic approach in its strategy. Movement of a search point from one location to another in a form of a spiral trajectory and relies on pre-defined parameters. However, both algorithms suffer a pre-matured convergence and tend to trap into a local optima solution. This paper presents an improved a...
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The inverted pendulum system is a popular demonstration of using feedback control to stabilize an open-loop unstable system.
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The hybrid version of a multi-verse optimizer (MVO) namely the modified multi-verse optimizer (mMVO) is developed in this paper by modifying the position updating equation of MVO. Here two modifications are proposed in the standard MVO.... more
The hybrid version of a multi-verse optimizer (MVO) namely the modified multi-verse optimizer (mMVO) is developed in this paper by modifying the position updating equation of MVO. Here two modifications are proposed in the standard MVO. Firstly, an average position selection mechanism is proposed for solving the local optima problem and secondly, the MVO algorithm is hybrid with another metaheuristics algorithm namely the Sine Cosine Algorithm (SCA) for better balancing the exploration and exploitation of standard MVO algorithm so that it can improve its searching capability. The proposed version of MVO has been evaluated on 23 well known benchmark functions namely unimodal, multimodal and fixed-dimension multimodal benchmark functions and the results are then verified with the standard MVO algorithm. Experimental results demonstrate that the proposed mMVO algorithm gives much better improvement than the standard MVO in the optimization problems in the sense of preventing local optima and increasing the search capability.
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A novel hybrid strategy combining a spiral dynamic algorithm (SDA) and a bacterial foraging algorithm (BFA) is presented in this article. A spiral model is incorporated into the chemotaxis of the BFA algorithm to enhance the capability of... more
A novel hybrid strategy combining a spiral dynamic algorithm (SDA) and a bacterial foraging algorithm (BFA) is presented in this article. A spiral model is incorporated into the chemotaxis of the BFA algorithm to enhance the capability of exploration and exploitation phases of both SDA and BFA with the aim to improve the fitness accuracy for the SDA and the convergence speed as well as the fitness accuracy for BFA. The proposed algorithm is tested with the Congress on Evolutionary Computation 2013 (CEC2013) benchmark functions, and its performance in terms of accuracy is compared with its predecessor algorithms. Consequently, for solving a complex engineering problem, the proposed algorithm is employed to obtain and optimise the fuzzy logic control parameters for the hub angle tracking of a flexible manipulator system. Analysis of the performance test with the benchmark functions shows that the proposed algorithm outperforms its predecessor algorithms with significant improvements a...
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This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using... more
This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller.
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This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version of SED algorithm where the updated tuning variable is... more
This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version of SED algorithm where the updated tuning variable is modified to adapt to the change of the objective function. By adopting the adaptive term to the updated equation of SED, it is expected that the convergence accuracy can be further improved. The effectiveness of the ASED algorithm is verified to tune the PID controller of flexible joint robot. In this flexible joint control problem, two PID controllers are utilized to control both rotary angle tracking and vibration of flexible joint robot. The performance of the proposed data-based PID controller is assessed in terms of trajectory tracking of angular motion, vibration reduction and statistical analysis of the pre-defined control objective function. The simulation results showed that the data-based PID controller based on ASED is able to produce bette...
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This paper presents the identification of liquid slosh plant using the Hammerstein model based on Grey Wolf Optimizer (GWO) method. A remote car that carrying a container of liquid is considered as the liquid slosh experimental rig. In... more
This paper presents the identification of liquid slosh plant using the Hammerstein model based on Grey Wolf Optimizer (GWO) method. A remote car that carrying a container of liquid is considered as the liquid slosh experimental rig. In contrast to other research works, this paper consider a piece-wise affine function in the nonlinear function of the Hammerstein model, which is more generalized function. Moreover, a continuous-time transfer function is utilized in the Hammerstein model, which is more suitable to represent a real system. The GWO method is used to tune both coefficients in the nonlinear function and transfer function of the Hammerstein model such that the error between the identified output and the real experimental output is minimized. The effectiveness of the proposed framework is assessed in terms of the convergence curve response, output response, and the stability of the identified model through the bode plot and pole zero map. The results show that the GWO based ...
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This paper presents a new Piecewise Affine Proportional-Integral (PA-PI) controller for angular velocity tracking of a buck converter generated dc motor. A Safe Experimentation Dynamics (SED) algorithm is employed as a data-driven... more
This paper presents a new Piecewise Affine Proportional-Integral (PA-PI) controller for angular velocity tracking of a buck converter generated dc motor. A Safe Experimentation Dynamics (SED) algorithm is employed as a data-driven optimization tool to find the optimal PA-PI controller parameters such that the integral square of error and input are reduced. The essential feature of the PA-PI controller is that the parameters of proportional and integral gains are adaptive to the error variations according to the Piecewise Affine (PA) function. Moreover, the proposed PA function is expected to provide better control accuracy than the other existing variable structure PID controller. In order to verify the effectiveness of the PA-PI controller, a widely known buck converter generated dc motor is considered. The performances of the proposed controller are observed in terms of the integral square of error and input, and the responses of the angular velocity and duty ration input. The sim...
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This paper presents a H-infinity synthesis with pole clustering based on LMI region schemes for liquid slosh control. Using LMI approach, the regional pole placement known as LMI region combined with design objective in H-infinity... more
This paper presents a H-infinity synthesis with pole clustering based on LMI region schemes for liquid slosh control. Using LMI approach, the regional pole placement known as LMI region combined with design objective in H-infinity controller guarantee a fast input tracking capability and very minimal liquid slosh. A graphical profile of the transient response of liquid slosh suppression system with respect to pole placement is very useful in giving more flexibility to the researcher in choosing a specific LMI region. With the purpose to confirm the design of control scheme, a liquid slosh model is considered to represent the lateral slosh movement. Supremacy of the proposed approach is shown by comparing the results with hybrid model-free fuzzy-PID controller with derivative filter. The performance of the control schemes is examined in terms of time response specifications of lateral tank tracking capability and level of liquid slosh reduction.
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This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic... more
This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed. Keywords—Gantry crane, anti-sway control, DFS controller, PD-type Fuzzy Logic Controller.
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Abstract—The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic... more
Abstract—The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two ...
... LANGUAGE: English. PUB ID: 103-462-203 (Last edited on 2009/08/22 09:55:45 GMT-6). SPONSOR(S): ABSTRACT: This paper presents the use of anti-sway angle control approaches for a two-dimensional overhead gantry crane with disturbances... more
... LANGUAGE: English. PUB ID: 103-462-203 (Last edited on 2009/08/22 09:55:45 GMT-6). SPONSOR(S): ABSTRACT: This paper presents the use of anti-sway angle control approaches for a two-dimensional overhead gantry crane with disturbances effect in the dynamic system. ...
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Abstract This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and sliding mode controller (SMC) are the... more
Abstract This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and sliding mode controller (SMC) are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique ...
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Research Interests: Engineering, Mechanical Engineering, Robotics, Control Systems Engineering, Fuzzy Logic, and 15 moreFuzzy Logic Control, Motion control, Control Systems, Fuzzy Control, PID controller design, Pid Controller Using Fuzzy Logic, System Simulation, Position Control, Input Shaping, PID control, Time Domain, Hybrid Control, Frequency Domain, dynamic model, and Payloads
Abstract This paper presents the detailed account on the control design of a buck converter driven dc motor. Proportional-integral (PI) and proportional-integral-type fuzzy logic controller (PI-type FLC) are the techniques proposed in... more
Abstract This paper presents the detailed account on the control design of a buck converter driven dc motor. Proportional-integral (PI) and proportional-integral-type fuzzy logic controller (PI-type FLC) are the techniques proposed in this investigation to control the speed of a dc motor. The dynamic system composed from converter/motor is considered in this investigation and derived in the state-space and transfer function forms. Complete analyses of simulation results for PI and PI-type FLC technique are presented in frequency ...
Research Interests: Computer Science, Fuzzy Logic, Fuzzy Control, Control Design, State Space, and 15 moreDc Motor, Conference, Pi, LQR, Buck Converter, System performance, Linear Quadratic regulator, Dynamic System, Time Domain, Speed Control, Duty Cycle, Frequency Domain, Buck Converters, Proportional Control, and Proportional integral
Abstract This paper presents investigations of sway feedback control approaches for a rotary crane system with disturbance effect in the dynamic system. Linear Quadratic Regulator (LQR) controller and Proportional-Derivative (PD)-type... more
Abstract This paper presents investigations of sway feedback control approaches for a rotary crane system with disturbance effect in the dynamic system. Linear Quadratic Regulator (LQR) controller and Proportional-Derivative (PD)-type Fuzzy Logic controller are the techniques used in this investigation to actively control the sway of rotary crane system. A lab-scale rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each ...
Research Interests: Optimal Control, Fuzzy Logic, Intelligent Control, Motion control, Control Systems, and 15 moreFuzzy Control, Feedback Control, Feedback, Active Control, Fuzzy Logic Controller, Euler Lagrange Equation, Dynamic Model of WSN, Second, System performance, Linear Quadratic regulator, Dynamic System, Frequency Domain, Proportional Control, dynamic model, and Proportional derivative
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Abstract This paper presents investigations into the implementation of input shaping schemes for anti-sway control of a gantry crane system. A lab-scale gantry crane is considered in the experimental work. An unshaped bang-bang input... more
Abstract This paper presents investigations into the implementation of input shaping schemes for anti-sway control of a gantry crane system. A lab-scale gantry crane is considered in the experimental work. An unshaped bang-bang input voltage is used to determine the characteristic parameters of the system for design and evaluation of the input shaping schemes. The input shaping schemes with different derivatives were designed based on the properties of the system. Implementation results of the response of the ...
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Abstract The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the... more
Abstract The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proportional Integral Derivative (PID) for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD type Fuzzy Logic Controller is developed for tip angular position control ...
Research Interests: Engineering, Control Systems Engineering, Computational Intelligence, Fuzzy Logic, Control Engineering, and 15 moreHybrid Systems, Fuzzy set theory, Fuzzy Logic Control, Adaptive Control, Fuzzy Expert System, Intelligent Systems, Environmental Informatics, Automatic Control, Fuzzy Control, Nonlinear Control, Artificial Neural Networks, Multi Agent Systems and Technologies, Fuzzy Logic Controller, PID control, and Frequency Domain
Abstract This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a rotary crane system. A nonlinear rotary crane system is considered and the dynamic model of the system... more
Abstract This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a rotary crane system. A nonlinear rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped square-pulse torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified negative amplitude (SNA) input ...
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Abstract This paper presents investigations into the development of collocated PD control for input tracking and vibration suppression of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated PD... more
Abstract This paper presents investigations into the development of collocated PD control for input tracking and vibration suppression of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated PD controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) and new modified specified negative amplitude ...
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Abstract This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived... more
Abstract This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle position control of rotary crane. This is then extended to incorporate input shaping techniques for anti-swaying control of the ...
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Research Interests: Mathematics, Field Theory, Partial Differential Equations, Quantum Field Theory, Numerical Analysis, and 14 moreControl Systems, Differential Equations, Control system, Simulation, Numerical Simulation, Operation, Functions, Equations of Motion, Equation of Motion, Dynamic Model of WSN, Dynamic Modelling, Lagrangian Method, Frequency Domain, and dynamic model
Abstract This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the... more
Abstract This paper presents investigations into the development of robust input shaping control schemes for anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and modified specified ...