The main aim of this study consists of proposing a simple but effective and robust approach for PID type fuzzy controller (Fuzzy-PID) in order to improve the dynamics and stability of a magnetic ball levitation system. The design parameters of the proposed controller are optimally determined based on Cuckoo Search (CS) algorithm. During the optimization, a time domain objective function is used for minimizing the values of common step response characteristics for the optimal selection of the controller parameters. Robustness tests are performed to evaluate the performance of the proposed controller through extensive simulations under load disturbance, parametric variation and changes in references. Moreover, to show the advantage and compare the performance of the proposed controller, the PID and Fractional Order PID (FOPID) controllers tuned with CS are designed. The simulation results and comparisons with the CS based PID and FOPID controllers demonstrate that the CS based Fuzzy-PID controller has superior performance depending on small overshoot, short settling time, fast rise time and minimum steady state error. Compared with the PID and FOPID controller tuned with CS, the simulation results show that the proposed Fuzzy-PID controller tuned with CS outperforms in terms of the accuracy, robustness and the least control effort.
The problem of control and stabilizing inherently non-linear and unstable magnetic levitation (Maglev) systems with uncertain equilibrium states has been studied. Accordingly, some significant works related to different control approaches have been highlighted to provide robust control and enhance the performance of the Maglev system. This work examines a method to control and stabilize the levitation system in the presence of disturbance and parameter variations to minimize the magnet gap deviation from the equilibrium position. To fulfill the stabilization and disturbance rejection for this non-linear dynamic system, the fractional order PID, fractional order sliding mode, and fractional order Fuzzy control approaches are conducted. In order to design the suitable control outlines based on fractional order controllers, a tuning hybrid method of GWO–PSO algorithms is applied by using the different performance criteria as Integrated Absolute Error (IAE), Integrated Time Weighted Absolute Error (ITAE), Integrated Squared Error (ISE), and Integrated Time Weighted Squared Error (ITSE). In general, these objectives are used by targeting the best tuning of specified control parameters. Finally, the simulation results are presented to determine which fractional controllers demonstrate better control performance, achieve fast and robust stability of the closed-loop system, and provide excellent disturbance suppression effect under nonlinear and uncertainty existing in the processing system.
The design of advanced robust control is crucial for serial robotic manipulators under various uncertainties and disturbances in case of the forceful performance needs of industrial robotic applications. Therefore, this work has proposed the design and implementation of a fractional order proportional tilt integral derivative (FOPTID) controller in joint space for a 3-DOF serial robotic manipulator. The proposed controller has been designed based on the fractional calculus concept to fulfill trajectory tracking with high accuracy and also reduce effects from disturbances and uncertainties. The parameters of the controller have been optimized with a GWO–PSO algorithm, which is a hybrid tuning method, by considering the time integral performance criterion. The superior and contribution of the GWO–PSO-based FOPTID controller has been demonstrated by comparing the results with those offered by PID, FOPID and PTID control strategies tuned by the GWO–PSO. The examination of the results showed that the proposed controller, which is based on the GWO–PSO algorithm, demonstrates better trajectory tracking performance and increased robustness against various trajectories, external disturbances, and joint frictions as compared to other controllers under the same operating conditions. In terms of the trajectory tracking performance for robustness, the superiority of the proposed controllers tuned by GWO–PSO has been confirmed by 20.2% to 44.5% reductions in the joint tracking errors. Moreover, for assessing the energy consumption of the tuned controllers, the total energy consumption of the proposed controller for all joints has been remarkably reduced by 2.45% as compared to others. Consequently, the results illustrated that the proposed controller is robust and stable and sustains against the continuous disturbance.
SUMMARYRobust controller design for a flow control problem where uncertain multiple time-varying time-delays exist is considered. Although primarily data-communication networks are considered, the presented approach can also be applied to other flow control problems and can even be extended to other control problems where uncertain multiple time-varying time-delays exist. Besides robustness, tracking and fairness requirements are also considered. To solve this problem, an H ∞ optimization problem is set up and solved. Unlike previous approaches, where only a suboptimal solution could be found, the present approach allows to design an optimal controller. Simulation studies are carried out in order to illustrate the time-domain performance of the designed controllers. The obtained results are also compared to the results of a suboptimal controller obtained by an earlier approach.
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