Realtime performance analysis of different combinations of fuzzy–PID and bias controllers for a two degree of freedom electrohydraulic parallel manipulator

Ghosh, Bibhuti Bhusan; Sarkar, Bikash Kumar; Saha, Rana

doi:10.1016/j.rcim.2014.11.001

Cited by 39 publications

(21 citation statements)

References 19 publications

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“…Sahu et al [16] examined a teaching-learning based optimization algorithm-based fuzzy-PID controller for automatic generation control of a multi-area power system. The fuzzy-PID control algorithm finds the relationship between three parameters (Kp, Ki, and Kd), error (e), and the rate of change in the error (∆e) based on fuzzy math theory, the fuzzy language variable, and fuzzy logic reasoning [6,19]. It changes the three parameters on-line by computing e and ∆e continuously, achieving better dynamic and static performance.…”

Section: Introductionmentioning

confidence: 99%

Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider

Liu¹,

Su²,

L³

et al. 2017

J. Math. Computer Sci.

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Underwater gliders are used for deep-water gliding to observe large areas with minimal energy consumption. The pitch angle of the underwater glider is an important control parameter. This study involved designing a fuzzy-PID controller for the pitch angle of an underwater glider based on hydrodynamics analysis. The formula of pitch angle is obtained and a system identification method was used to identify the transfer function based on the time-domain equation and initial experimental data. The fuzzy-PID control algorithm was used to design the controller. Lake and sea trials indicated that the minimum overshoot reached 0% and the settling time was about 34s when the change of the angle was 15 • . The minimum steady-state error was 0.8 • . These advantages could reduce the consumption of energy and improve the accuracy of gliding trajectory. Therefore, this control algorithm should be applied to control the pitch of the gliders.

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Section: Introductionmentioning

confidence: 99%

Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider

Liu¹,

Su²,

L³

et al. 2017

J. Math. Computer Sci.

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“…This novel control valve reduces the system cost by more than one order of magnitude. The proposed controller is a simple proportional (P) controlled controller; however, it has an improved performance compared with the controller of Gosh et al [9] because of the linear behavior of the PDHV.…”

Section: Objective Of This Thesis and Summary Of Resultsmentioning

confidence: 97%

“…Ghosh et al [9] developed a 2-dof parallel hydraulic actuated system for a heave-and-pitch motion simulator. Two low-cost commercial solenoid proportional valves control the hydraulic actuators.…”

Section: Literature Reviewmentioning

confidence: 99%

“…The authors have considered different types of controllers, and the self-tuning fuzzy proportional-integral-derivative (PID) with bias control showed the best performance. The PID controller had the worst response [9]. The commercial proportional valves used in [9] have a deadband of 15% (usually, 5%-20% is common [36]).…”

Section: Literature Reviewmentioning

confidence: 99%

“…The PID controller had the worst response [9]. The commercial proportional valves used in [9] have a deadband of 15% (usually, 5%-20% is common [36]). In this Thesis, the dead-band of the proposed valve is less than 0.5%, hence a better performance of a linear controller is expected.…”

Section: Literature Reviewmentioning

confidence: 99%

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Numerical and Experimental Study of a Two Degrees of Freedom Electrohydraulic Manipulator

CARDOZO¹

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Numerical and experimental study of a two degrees of freedom electrohydraulic manipulatorThesis presented to the Programa de Pós-Graduação em Engenharia Mecânica of the Departamento de Engenharia Mecânica, PUC-Rio as a partial fulfillment of the requirements for the degree of Doutor. Prof. Hans Ingo WeberAdvisor Departamento de Engenharia Mecânica -PUC-Rio To Romulo Reis Aguiar for your attendance on the day of the defense and for your review of this Thesis. Prof. Marco Antonio Meggiolaro Departamento de Engenharia Mecânica -PUC-Rio Prof. Roberta de Queiroz LimaTo my parents for the education, love and support.To Aline and Henry for the love and patience.To Timo Wekerle for your help with the references and for your review.To all the professors and staff of the Department for the teachings and the help.To all the friends and family that in one way or another stimulated or helped me.I thank PUC-Rio and CNPq for the aid granted, without which this work could not have been carried out. as características do sistema de atuação, mesmo este simples controlador é preciso e confiável. Em seguida é demonstrado um método para avaliar outras estratégias de controle. A comparação entre a plataforma cardânica e homocinética mostra que, nas condições analisadas, ambas têm um comportamento dinâmico similar.Nas duas configurações da plataforma o sistema se mostrou preciso e confiável.

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Robust approximate constraint‐following control design for typical manipulator systems

Zhen

Peng

Wang

et al. 2021

Asian Journal of Control

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In this paper, the constraint equation is written into the second‐order form, and the additional generalized constraint binding force is added to the unconstrained system from the constraint equation to obtain the dynamic equation. Based on the dynamic equation, we model performance requirements as servo constraints by using the robust approximate constraint‐following servo control. In other words, the constraints are generated from the servo control which makes the system follow the constraints approximately. Finally, for verifying the effectiveness of the controller, we apply it into a two‐degree‐of‐freedom manipulator system.

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Realtime performance analysis of different combinations of fuzzy–PID and bias controllers for a two degree of freedom electrohydraulic parallel manipulator

Cited by 39 publications

References 19 publications

Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider

Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider

Numerical and Experimental Study of a Two Degrees of Freedom Electrohydraulic Manipulator

Robust approximate constraint‐following control design for typical manipulator systems

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