• Title/Summary/Keyword: Adaptive PID controller

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A Design of An Active PID control using Immune Algorithm for Vibration Control of Building Structure (구조물 진동제어를 위한 Immune Algorithm을 이용한 Active PID 제어기 설계)

  • Lee, Young-Jin;Cho, Hyun-Cheol;Lee, Kwon-Soon
    • Proceedings of the KIEE Conference
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    • 2005.05a
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    • pp.72-74
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    • 2005
  • In this paper, we propose an adaptive PID controller using a cell-mediated immune response to improve a PID control performance. The proposed controller is based on the specific immune response of the biological immune system that is cell-mediated immunity. The immune system of organisms in the real body regulates the antibody and the T-cells to protect an attack from the foreign materials like virus, germ cells, and other antigens. It has similar characteristics that are the adaptation and robustness to overcome disturbances and to control the plant of engineering application. We first build a model of the T-cell regulated immune response mechanism and then designed an I-PID controller focusing on the T-cell regulated immune response of the biological immune system. We apply the proposed methodology to building structures to mitigate vibrations due to strong winds for evaluation of control performances. Through computer simulations, system responses are illustrated and additionally compared to traditional control approaches.

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Design of a real time adaptive controller for industrial robot using TMS320C31 chip (TMS320C31칩을 사용한 산엽용 로보트의 실시간 적응 제어기 설계)

  • Han, S.H.;Kim, Y.T.;Lee, M.H.;Kim, S.K.;Kim, J.O.
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.10
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    • pp.94-104
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    • 1996
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

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Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller

  • Jin, Tae-Seok;Tack, Han-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.1
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    • pp.49-53
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    • 2011
  • Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

Design of an Automatic constructed Fuzzy Adaptive Controller(ACFAC) for the Flexible Manipulator (유연 로봇 매니퓰레이터의 자동 구축 퍼지 적응 제어기 설계)

  • 이기성;조현철
    • Journal of the Korean Institute of Intelligent Systems
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    • v.8 no.2
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    • pp.106-116
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    • 1998
  • A position control algorithm of a flexible manipulator is studied. The proposed algorithm is based on an ACFAC(Automatic Constructed Fuzzy Adaptive Controller) system based on the neural network learning algorithms. The proposed system learns membership functions for input variables using unsupervised competitive learning algorithm and output information using supervised outstar learning algorithm. ACFAC does not need a dynamic modeling of the flexible manipulator. An ACFAC is designed that the end point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by error, velocity and variation of error. Simulation and experiment results show a robustness of ACFAC compared with the PID control and neural network algorithms.

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Semi-active vibration control using experimental model of magnetorheological damper with adaptive F-PID controller

  • Muthalif, Asan G.A.;Kasemi, Hasanul B.;Nordin, N.H. Diyana;Rashid, M.M.;Razali, M. Khusyaie M.
    • Smart Structures and Systems
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    • v.20 no.1
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    • pp.85-97
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    • 2017
  • The aim of this research is to develop a new method to use magnetorheological (MR) damper for vibration control. It is a new way to achieve the MR damper response without the need to have detailed constant parameters estimations. The methodology adopted in designing the control structure in this work is based on the experimental results. In order to investigate and understand the behaviour of an MR damper, an experiment is first conducted. Force-displacement and force-velocity responses with varying current have been established to model the MR damper. The force for upward and downward motions of the damper piston is found to be increasing with current and velocity. In cyclic motion, which is the combination of upward and downward motions of the piston, the force with hysteresis behaviour is seen to be increasing with current. In addition, the energy dissipated is also found to be linear with current. A proportional-integral-derivative (PID) controller, based on the established characteristics for a quarter car suspension model, has been adapted in this study. A fuzzy rule based PID controller (F-PID) is opted to achieve better response for a varying frequency input. The outcome of this study can be used in the modelling of MR damper and applied to control engineering. Moreover, the identified behaviour can help in further development of the MR damper technology.

A Study on the Effect Analysis Influenced on the Advanced System of Moving Object (이동물체가 정밀 시스템에 미치는 영항분석에 관한 연구)

  • Shin, Hyeon-Jae;Kim, Soo-In;Choi, In-Ho;Shon, Young-Woo;An, Young-Hwan;Kim, Dae-Wook;Lee, Jae-Soo
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.21 no.8
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    • pp.87-95
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    • 2007
  • In this paper, we analyzed the mr detection and the stability of the object tracking system by an adaptive stereo object hacking using region-based MAD(Mean Absolute Difference) algorithm and the modified PID(Proportional Integral Derivative)-based pan/tilt controller. That is, in the proposed system, the location coordinates of the target object in the right and left images are extracted from the sequential stereo input image by applying a region-based MAD algorithm and the configuration parameter of the stereo camera, and then these values could effectively control to pan/tilt of the stereo camera under the noisy circumstances through the modified PID controller. Accordingly, an adaptive control effect of a moving object can be analyzed through the advanced system with the proposed 3D robot vision, in which the possibility of real-time implementation of the robot vision system is also confirmed.

A study on the PID adaptive position controller using GMDP Neural Network (GMDP 신경망을 이용한 PID 적응 위치 제어기에 관한연구)

  • 추연규;임영도
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1995.10b
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    • pp.258-263
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    • 1995
  • 본 논문은 일반화된 다중 수상돌기 적 (GMDP : Generalized Multi Dendrite Product) 유닛트 신경망을 이용한 PID 적응 위치제어기를 구성하여 직류 서어보 전동기의 위치제어를 실시간 처리 하였다. 제안한 제어기를 위치제어에 적용시켜 실험한 결과 기존의 MLP 신경망 제어기를 이용한 것 보다도 샘플시간을 줄일 수 있다는 장점으로 정밀한 제어 가 가능하다는 것을 확인할 수 있었다. 학습규칙은 기존의 역전파 학습방법이 GMDP 신경 회로망에 적용되었다.

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Simple digital control of cell mass in biological CSTR (연속 교반 발효조에서 균체농도의 단순 디지탈 제어)

  • 이경범;황영보;이지태
    • 제어로봇시스템학회:학술대회논문집
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    • 1987.10b
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    • pp.647-651
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    • 1987
  • Yeast biomass in a biological continuous stirred tank reactor was controlled with an APPLE II microcomputer using adaptive control theory of bilinear systems. The controller used is as simple as a PID controller, but required less information. Cell concentration was well controlled by adjusting the inlet flow rate following the algorithm.

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Adaptive Fuzzy Control of Yo-yo System Using Neural Network

  • Lee, Seung-ha;Lee, Yun-Jung;Shin, Kwang-Hyun;Bien, Zeungnam
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.4 no.2
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    • pp.161-164
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    • 2004
  • The yo-yo system has been introduced as an interesting plant to demonstrate the effectiveness of intelligent controllers. Having nonlinear and asymmetric characteristics, the yo-yo plant requires a controller quite different from conventional controllers such as PID. In this paper is presented an adaptive method of controlling the yo-yo system. Fuzzy logic controller based on human expertise is referred at first. Then, an adaptive fuzzy controller which has adaptation features against the variation of plant parameters is proposed. Finally, experimental results are presented.

A Study on the Design of Adaptive Controller with Supervision Function (감독기능을 갖는 적응제어기 구성에 관한 연구)

  • 이창구;권오형;황형수;김성중
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.37 no.12
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    • pp.894-902
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    • 1988
  • In this paper, a method for the design of robust adaptive controller using the heuristic rules of industrial engineers is presented. This scheme works on the basis of heuristic rules and includes a supervisor, a system identifier and a detuner. The supervisor detects onsetting instability based on the analysis of the amplitude and the trend of error signal, also selects running controllers. Upon detecting instability, the controller is switched to a PID algorithm and run recursively until stability is restored. Simultaneously, new input / output data is gathered and the system identifier runs to get critical sensitivity (kc) and critical period(tc). Based on the new values(kc, tc), a GPC controller is redesigned and normal GPC is finally run. The algorithm described in this paper belongs to the supervised adaptive control category with a limited use of heuristic rules. Finally, we show the robust of this scheme by simulated example.

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