Online adaptive PID tracking control of an aero-pendulum using PSO-scaled fuzzy gain adjustment mechanism
Autor: | Muhammad Ahmad Saleem, Omer Saleem, Agha Ali Zeb, Mohsin Rizwan, Abdul Hannan Ali |
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Rok vydání: | 2019 |
Předmět: |
0209 industrial biotechnology
Angular displacement Oscillation Computer science Propeller Pendulum Particle swarm optimization PID controller Thrust 02 engineering and technology Fuzzy logic Theoretical Computer Science Tracking error 020901 industrial engineering & automation Robustness (computer science) Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Geometry and Topology Software Inner loop |
Zdroj: | Soft Computing. 24:10629-10643 |
ISSN: | 1433-7479 1432-7643 |
DOI: | 10.1007/s00500-019-04568-1 |
Popis: | This article is centered on the development of a robust position control and disturbance compensation strategy for a mechatronic aero-pendulum using the soft computing paradigm. The pendulum arm is rotated about its pivot via the thrust generated by two coaxial contra-rotating motorized propellers installed at its free end. The tracking error in arm’s angular position is fed to a multi-loop feedback controller. The proportional–integral–derivative (PID) controller, in the outer loop, stabilizes the arm at the reference position. The reference current control signals generated by the PID position controller are fed to two PI controllers, in the inner loop, that are responsible for regulating the current consumption of each motorized propeller. Initially, the fixed PID controller gains are evaluated by selecting the optimal value of the system’s closed-loop pole using the particle swarm optimization (PSO) algorithm. However, to mitigate the inefficacies of fixed gain controller and further enhance the system’s robustness against bounded exogenous disturbances and damping against oscillations, the closed-loop pole is dynamically adjusted via fuzzy inference system, after every sampling interval. The fuzzy membership functions are calibrated offline via PSO algorithm. The superior time optimal control behavior rendered by the proposed controller is validated by comparing its performance with fixed gain controller via credible real-time experiments. |
Databáze: | OpenAIRE |
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