Controller Design

... Swarm intelligence is a member of artificial intelligence that study intelligence behaviour of groups rather than of individuals, such as social behaviour of insect like ants, bees, wasp, termites and fish. ... Figure 8: Pole-zero plot. REFERENCES Andries P. Engelbrecht. ...

The increased use of changeable characteristics in modern manufacturing and robotic systems and applications call for improved system control design that offers some degree of reconfigurability. The need for control reconfiguration of robotic systems arises due to ...

The authors examine some issues in the transfer function modeling of a single flexible link. Using the assumed-modes approach, it is possible to find the transfer function between the torque input and the net tip deflection. It is shown that when the number of modes is increased for more accurate modeling, the relative degree of the transfer function becomes ill-defined.

In this paper we propose a general purpose hardware/software environment for hard real time simulation of dynamical systems in the context of control engineering. With this system, realistic analysis and tests can be carried out for controller algorithms characterized by time determinism with strict restrictions, multiple inputs and multiple outputs and based on robust control theory. A hard real time

This paper presents the design of a sliding mode fuzzy logic-based controller for an active vehicle suspension system. The controller design is based on a Macpherson strut model and combines sliding mode techniques with fuzzy logic methodologies. This control ...

The design of logic controllers for event-driven systems continue to rely largely on intuitive methods rather than on formal techniques. This approach results in a control code that requires extensive verification, is hard to maintain and modify, and may even fail at times. Supervisory control theory (SCT) provides a formal approach to logic control synthesis. In order to demonstrate the usefulness of the supervisory control theory in manufacturing systems, an educational test-bed that simulates an automated car assembly line has been built using LEGO® blocks. Finite state machines (FSMs) are used for modeling operations of the assembly line, and for the specifications that accomplish the task of successfully completing the assembly repeatedly. Using the technique of SCT, we derive a supervisor that enforces the specifications while offering the maximum flexibility of assembly. Subsequently a controller is extracted from the maximally permissive supervisor for the purpose of implementing the control by selecting, when possible, at most one controllable event from among the ones allowed by the supervisor. Testing to check the correctness of the control code is reduced, since the controller is guaranteed to enforce the specifications.

Autonomous mobile robots have been used to carry out different tasks without continuous human guidance. To achieve the tasks, they must be able to navigate and avoid different kinds of obstacles that faced them. Navigation means that the robot can move through the environment to reach a destination. Obstacles avoidance considers a challenge which robot must overcome. In this work, the authors propose an efficient technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured environment. All robots cooperate with each other to avoid obstacles. The robots detect the obstacles position around them and store their positions in shared memory. By accessing the shared memory, the other robots of the swarm can avoid the detected obstacles when they face them. To implement this idea, the Authors used a MATLAB® and V-REP® (Virtual Robot Experimentation Platform).

Functional verification mainly based on coverage driven constraint. The universal memory controller is aiming
to advance the performance of the prevailing memory controllers through a complete integration of the all memory in
addition of providing novel features. It mainly serves as one amongst the basic important feature that’s lagging in most of
memory controller that is power being consumed. The aim of the paper is to validate the design and to generate regression
test cases in the test-bench in order to obtain 100% functional coverage using System Verilog (SV) and a typical code
coverage

In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.

Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.

This paper proposes the design and experimentation of digital control of soft-switched interleaved boost converter using FPGA for Telecommunication System. The switching devices in the proposed converter are turned on and off with Zero Voltage Switching (ZVS) and Zero Current Switching (ZCS) respectively. The circuit is operated in Continuous Conduction Mode (CCM) with various load ranges having duty cycle of more than 50%. The proposed converter is studied by developing the simulation module in MATLAB/SIMULINK. A PI controller is designed and implemented in FPGA to obtain a regulated DC output for line and load variations. Simulation and experimentation results are verified with a prototype development of the proposed converter. The results indicate that the converter performance is enhanced with closed loop control.

Two linear Artificial Neural Network (ANN)-based controllers for the control of a nonlinear system are presented. The optimization and pole placement control design strategies are used. For both strategies, linear ANNs are used to model a Continuous Stirred Tank Heater (CSTH) process. Third-order discrete-time models or Adaline ANNs are used whose parameters are updated at every sampling time to provide adaptability to the controllers. Simulation tests show that the linear ANN-based controllers can overcome strong nonlinear coupling effects, reject step disturbances, and provide adequate damping to the subsystem interactions. Both ANN-based control design strategies are shown to be interchangeable with each other for the control of the CSTH process.

The proposed system for vehicle tracking and anti-theft detection locking system using Gsm & Gps deals with the design & development of a theft control system for safety and security in automobiles, which is being used to prevent the theft of a vehicle. This system makes use of an embedded system contributes major roles which based on Global System for Mobile communication (GSM) technology. The proposed system is placed in the vehicle and Mobile interfaced with engine protocols. When the vehicle is being stolen, the information about vehicle is received by vehicle owner with GSM technology for corrective action. The information is forwarded to central processing system which is in the form of the text message. The controller fetch the sms and sends it to the Global Positioning System (GPS) module and GPS module reads location in the form of latitude and longitude and sends information to the user's mobile. After getting location information about vehicle the mobile, car owner can control the ignition of the vehicle's engine. Controlling action generated by Car owner or system, it will stop or lock the engine immediately. The designed unit is very simple & low cost.

In today's fast paced world of increasing and innovative new technology, fuzzy logic is a practical mathematical addition to classic Boolean logic. We can see its applications in many fields of science and engineering. This paper gives a general overview with a large bibliography, on many such applications to target tracking, pattern recognition, robotics, power systems, controller design, chemical engineering, biomedical engineering, vehicular technology, economy management as well as decision making, communications and networking, electronic engineering, civil engineering, sensor technology, and industry