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pid control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 90-98页

作者： Xujun Lyu Zongli Lin College of Engineering Huazhong Agricultural UniversityWuhan 430070China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaP.O.Box 400743CharlottesvilleVA 22904-4743 USA

This paper investigates pid control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation.Based on the bounds on the growth rates of the nonlinear uncertain function in the system model,the system is placed in a linear differential inclusion.Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation.By placing the saturated pid control into a convex hull formed by the pid controller and an auxiliary linear feedback law,we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system.The equilibrium point corresponds to the desired set point for the system output.Thus,the location of the equilibrium point and the size of the domain of attraction determine,respectively,the set point that the output can achieve and the range of initial conditions from which this set point can be reached.Based on these conditions,the feasible set points can be determined and the design of the pid control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities(LMIs).Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting pid control law.

关键词： Actuator saturation domain of attraction nonlinear systems pid control uncertainties

Vision Navigation Based pid control for Line Tracking Robot

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Intelligent Automation & Soft Computing 2023年第1期35卷 901-911页

作者： Rihem Farkh Khaled Aljaloud College of Engineering Muzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia

In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(pid)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy.

关键词： Line tracking robot vision navigation pid control image processing OpenCV raspberry pi

Tracking control of Multi-Agent Systems Using a Networked Predictive pid Tracking Scheme

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 216-225页

作者： Guo-Ping Liu IEEE the Center for control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper studies the tracking control problem of networked multi-agent systems with communication constraints,where each agent has no information on the dynamics of other agents except their outputs.A networked predictive proportional integral derivative(Ppid)tracking scheme is proposed to achieve the desired tracking performance,compensate actively for communication delays,and simplify implementation in a distributed manner.This scheme combines the past,present and predictive information of neighbour agents to form a tracking error signal for each agent,and applies the proportional,integral,and derivative of the agent tracking error signal to control each individual agent.The criteria of the stability and output tracking consensus of multi-agent systems with the networked Ppid tracking scheme are derived through detailed analysis on the closed-loop systems.The effectiveness of the networked Ppid tracking scheme is illustrated via an example.

关键词： Coordinative tracking control networked multiagent systems pid control predictive control

Fuzzy Self-Tuning pid control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

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Journal of Bionic Engineering 2013年第3期10卷 329-340页

作者： Thanana Nuchkrua Thananchai Leephakpreeda School of Manufacturing Systems and Mechanical Engineering Sirindhorn International Institute of Technology Thammasat University Pathum Thani 12121 Thailand

In this paper, a fuzzy self-tuning Proportional-Integral-Derivative （pid） control of hydrogen-driven Pneumatic Artificial Muscle （PAM） actuator is presented. With a conventional pid control, non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself, causing deyiation of desired tasks. The fuzzy self-tuning pid con- troller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator. The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the pid gains of the controller under different operating conditions. The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations. A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations. The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired oerformance.

关键词： pneumatic muscle metal hydride thermoelectric module pid control fuzzy tuning

Identification and pid control for a Class of Delay Fractional-order Systems

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 463-476页

作者： Zhuoyun Nie Qingguo Wang Ruijuan Liu Yonghong Lan School of Information Science and Engineering Huaqiao University Institute for Intelligent Systems the University of Johannesburg School of Applied Mathematics Xiamen University of Technology School of Information Engineering Xiangtan University

In this paper,a new model identification method is developed for a class of delay fractional-order system based on the process step response.Four characteristic functions are defined to characterize the features of the normalized fractionalorder model.Based on the time scaling technology,two identification schemes are proposed for parameters' estimation.The scheme one utilizes three exact points on the step response of the process to calculate model parameters directly.The other scheme employs optimal searching method to adjust the fractional order for the best model identification.The proposed two identification schemes are both applicable to any stable complex process,such as higher-order,under-damped/over-damped,and minimum-phase/nonminimum-phase processes.Furthermore,an optimal pid tuning method is proposed for the delay fractionalorder systems.The requirements on the stability margins and the negative feedback are cast as real part constraints(RPC)and imaginary part constraints(IPC).The constraints are implemented by trigonometric inequalities on the phase variable,and the optimal pid controller is obtained by the minimization of the integral of time absolute error(ITAE) index.Identification and control of a Titanium billet heating process is given for the illustration.

关键词： Fractional-order system time delay identification pid control Titanium billet heating furnace

Modeling and Simulation of Hydraulic Roll Bending System Based on CMAC Neural Network and pid Coupling control Strategy

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Journal of Iron and Steel Research(International) 2013年第10期20卷 17-22页

作者： JIA Chun-yu SHAN Xiu-ying CUI Yan-cao BAI Tao CUI Fa-jun College of Mechanical Engineering Yanshan University Hot Strip Mill of Jinan Iron and Steel Co. Ltd

The hydraulic roll bending control system usually has the dynamic characteristics of nonlinearity, slow time variance and strong outside interference in the roiling process, so it is difficult to establish a precise mathemati- cal model for control. So, a new method for establishing a hydraulic roll bending control system is put forward by cerebellar model articulation controller （CMAC） neural network and proportional-integral-derivative （pid） coupling control strategy. The non-linear relationship between input and output can be achieved by the concept mapping and the actual mapping of CMAC. The simulation results show that, compared with the conventional pid control algo- rithm, the parallel control algorithm can overcome the influence of parameter change of roll bending system on the control performance, thus improve the anti jamming capability of the system greatly, reduce the dependence of con- trol performance on the accuracy of the analytical model, enhance the tracking performance of hydraulic roll bending loop for the hydraulic and roll bending force and increase system response speed. The results indicate that the CMAC-P1D coupling control strategy for hydraulic roll bending system is effective.

关键词： hydraulic roll bending CMAC neural network pid control genetic algorithm

Conical tank level control using fractional order pid controllers： a simulated and experimental study

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control Theory and Technology 2016年第4期14卷 369-384页

作者： Cristian JAUREGUI Manuel A. DUARTE-MERMOUD Rodrigo OROSTICA Juan Carlos TRAVIESO-TORRES Orlando BEYTIA Electrical Engineering Department and Advanced Mining Technology Center Universidad de Chile Av. Tupper 2007 Casilla 412-3 Santiago Chile Industrial Technologies Department Technological Faculty Universidad de Santiago de Chile Av. El Belloto 3735 Santiago Chile

In this paper, simulated and experimental results on the conical tank level control are presented. PI/pid controllers of integer order （IO） as well as of fractional order （FO） are studied and compared. The tuning parameters are obtained first by using root locus （RL） and Ziegler and Nichols methods, for comparison purposes. Next, particle swarm optimization （PSO） is employed to determine the optimal controllers＇ parameters using as fitness function the integral of the absolute value of tracking error （IAE）. From the experimental results it is concluded that PI/FOPI are the controllers presenting the lowest IAE indexes, whereas pid/FOpid controllers present the lowest energy consumption by the control signal.

关键词： Level control conical tank pid control fractional pid control experimental control

Computer Vision-control-Based CNN-pid for Mobile Robot

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Computers, Materials & Continua 2021年第7期68卷 1065-1079页

作者： Rihem Farkh Mohammad Tabrez Quasim Khaled Al jaloud Saad Alhuwaimel Shams Tabrez Siddiqui College of Engineering Muzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia King Abdulaziz City for Science and Technology Saudi Arabia Department of Computer Science College of Computer Science and Information TechnologyJazan UniversityJazanSaudi Arabia Department of Electrical Engineering Laboratory for AnalysisConception and Control of SystemsLR-11-ES20National Engineering School of TunisTunis El Manar UniversityTunisTunisia

With the development of artificial intelligence technology,various sectors of industry have developed.Among them,the autonomous vehicle industry has developed considerably,and research on self-driving control systems using artificial intelligence has been extensively conducted.Studies on the use of image-based deep learning to monitor autonomous driving systems have recently been performed.In this paper,we propose an advanced control for a serving robot.A serving robot acts as an autonomous line-follower vehicle that can detect and follow the line drawn on the floor and move in specified directions.The robot should be able to follow the trajectory with speed control.Two controllers were used simultaneously to achieve this.Convolutional neural networks(CNNs)are used for target tracking and trajectory prediction,and a proportional-integral-derivative controller is designed for automatic steering and speed control.This study makes use of a Raspberry PI,which is responsible for controlling the robot car and performing inference using CNN,based on its current image input.

关键词： Autonomous car pid control deep learning convolutional neural network differential drive system raspberry pi

Comparison of the Back-Stepping and pid control of the Three-phase Inverter with Fully Consideration of Implementation Cost and Performance

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Chinese Journal of Electrical Engineering 2018年第2期4卷 82-89页

作者： Jinsong He Xin Zhang School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore

The three-phase inverter with LC filter has been widely applied in many industrial areas,mainly for non-connected grid utilization.Meanwhile,the standard of power quality needed in industrial applications tends to grow as time goes by,requiring more advanced and economical control strategies to fulfil this objective without comprising the stability of the system.For this reason,a comparative study of Back-stepping control strategy and pid control method are presented in this paper,based on an unconnected-to-grid three-phase inverter with LC filter.The control purpose is to produce sinusoidal load currents with amplitude and frequency fixed by a reference signal,where both steady state performance as well as transient performance are examined and compared,with fully consideration of implementation cost.Two controllers have been built in a Matlab/Simulink environment,where Park transformation(abc/dq0)and bipolar Sinusoidal Pulse Width Modulation(SPWM)strategy are implemented.For validation,hardware verification is also presented based on dSPACE DS1103 control-based prototype.

关键词： Steady state SPWM dynamic pid control back-stepping control THD comparison