This paper expands a Multi Input Multi Output (MIMO) fuzzy estimator variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. The main goal is to guarantee acceptable trajectories tracking between the internal combustion engine (IC engine) air to fuel ratio and the desired input. The fuzzy controller in proposed fuzzy estimator variable structure controller is based on Lyapunov fuzzy inference system (FIS) with minimum model based rule base. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the MIMO fuzzy estimator VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm (FBAFVSC) is validated through comparison with VSC and proposed method. Simulation results signify good performance of fuel ratio in presence of uncertainty and external disturbance.
Design of Model Free Adaptive Fuzzy Computed Torque Controller for a Nonlinea...Waqas Tariq
In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a two-degree-of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in inverse dynamic controller, fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. The main objective in this research is analyses and design of the adaptive robust controller based on artificial intelligence and nonlinear control. Robot manipulator is nonlinear, time variant and a number of parameters are uncertain, so design the best controller for this plant is the main target. Although inverse dynamic controller have acceptable performance with known dynamic parameters but regarding to uncertainty, this controller\'s output has fairly fluctuations. In order to solve this problem this research is focoused on two methodology the first one is design a fuzzy inference system as a estimate nonlinear part of main controller but this method caused to high computation load in fuzzy rule base and the second method is focused on design novel adaptive method to reduce the computation in fuzzy algorithm.
Design Auto Adjust Sliding Surface Slope: Applied to Robot ManipulatorWaqas Tariq
The main target in this paper is to present the nonlinear methods in order to control the robot manipulators and also the related results. Also the important role of sliding surface slope in sliding mode fuzzy control of robot manipulator should be considered. Sliding mode controller (SMC) is a significant nonlinear controller in certain and uncertain dynamic parameters systems. To solve the chattering phenomenon, this paper complicated two methods to each other; boundary layer method and applied fuzzy logic in sliding mode methodology. To remove the chattering sliding surface slope also played important role so this paper focused on the auto tuning this important coefficient to have the best results by applied mathematical model free methodology. Auto tuning methodology has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Secon...CSCJournals
This research is focused on proposed adaptive fuzzy sliding mode algorithms with the adaptation laws derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Adaptive MIMO fuzzy compensate fuzzy sliding mode method design a MIMO fuzzy system to compensate for the model uncertainties of the system, and chattering also solved by linear saturation method. Since there is no tuning method to adjust the premise part of fuzzy rules so we presented a scheme to online tune consequence part of fuzzy rules. Classical sliding mode control is robust to control model uncertainties and external disturbances. A sliding mode method with a switching control low guarantees the stability of the certain and/or uncertain system, but the addition of the switching control low introduces chattering into the system. One way to reduce or eliminate chattering is to insert a boundary layer method inside of a boundary layer around the sliding surface. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and artificial intelligence (e.g. fuzzy logic). To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain...CSCJournals
This document proposes an artificial chattering free adaptive fuzzy sliding mode control algorithm for uncertain systems, specifically applied to robot manipulators. The algorithm combines sliding mode control, fuzzy logic control, and adaptive methods to address some limitations of each approach. Specifically, fuzzy logic is used instead of saturation functions and dead zones to eliminate chattering. Fuzzy rules are also used to estimate the nonlinear dynamic equivalent control term, reducing complexity. Adaptive methods are used to continuously adjust the sliding function in real-time for improved performance with uncertain or time-varying parameters. The algorithm is tested in simulations of a PUMA robot manipulator.
Design Model-free Fuzzy Sliding Mode Control of Internal Combustion EngineCSCJournals
Modeling and control of engine systems are vital due to wide range of their applications. As it is obvious stability is the minimum requirement in any control system, however the proof of stability is not trivial especially in the case of nonlinear systems. One of the most active research areas in field of internal combustion engine (IC engine) is control of the fuel ratio. The strategies for control of engines are classified into two main groups: classical and non-classical methods, where the classical methods used the conventional control theory and non-classical methods used the artificial intelligence theory such as fuzzy logic, neural networks and/or neurofuzzy. One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems is sliding mode controller (SMC). Chattering phenomenon is the most important challenge in this controller. Fuzzy logic and neuro control have been applied successfully in many applications. Therefore stable control of an internal combustion engine is challenging because it has uncertain dynamic parameters. This research presents a design fuzzy sliding mode controller with improved in sliding mode controller which offers a model-free sliding mode controller. The fuzzy sliding mode controller is designed as a 49 rules Mamdani’s error-based fuzzy sliding-like equivalent part instead of nonlinear dynamic equation of equivalent part. Various performance indices like the minimum error, trajectory, disturbance rejection, and chattering control are used for comparison.
Design of Model Free Adaptive Fuzzy Computed Torque Controller for a Nonlinea...Waqas Tariq
In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a two-degree-of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in inverse dynamic controller, fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. The main objective in this research is analyses and design of the adaptive robust controller based on artificial intelligence and nonlinear control. Robot manipulator is nonlinear, time variant and a number of parameters are uncertain, so design the best controller for this plant is the main target. Although inverse dynamic controller have acceptable performance with known dynamic parameters but regarding to uncertainty, this controller\'s output has fairly fluctuations. In order to solve this problem this research is focoused on two methodology the first one is design a fuzzy inference system as a estimate nonlinear part of main controller but this method caused to high computation load in fuzzy rule base and the second method is focused on design novel adaptive method to reduce the computation in fuzzy algorithm.
Design Auto Adjust Sliding Surface Slope: Applied to Robot ManipulatorWaqas Tariq
The main target in this paper is to present the nonlinear methods in order to control the robot manipulators and also the related results. Also the important role of sliding surface slope in sliding mode fuzzy control of robot manipulator should be considered. Sliding mode controller (SMC) is a significant nonlinear controller in certain and uncertain dynamic parameters systems. To solve the chattering phenomenon, this paper complicated two methods to each other; boundary layer method and applied fuzzy logic in sliding mode methodology. To remove the chattering sliding surface slope also played important role so this paper focused on the auto tuning this important coefficient to have the best results by applied mathematical model free methodology. Auto tuning methodology has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Secon...CSCJournals
This research is focused on proposed adaptive fuzzy sliding mode algorithms with the adaptation laws derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Adaptive MIMO fuzzy compensate fuzzy sliding mode method design a MIMO fuzzy system to compensate for the model uncertainties of the system, and chattering also solved by linear saturation method. Since there is no tuning method to adjust the premise part of fuzzy rules so we presented a scheme to online tune consequence part of fuzzy rules. Classical sliding mode control is robust to control model uncertainties and external disturbances. A sliding mode method with a switching control low guarantees the stability of the certain and/or uncertain system, but the addition of the switching control low introduces chattering into the system. One way to reduce or eliminate chattering is to insert a boundary layer method inside of a boundary layer around the sliding surface. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and artificial intelligence (e.g. fuzzy logic). To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain...CSCJournals
This document proposes an artificial chattering free adaptive fuzzy sliding mode control algorithm for uncertain systems, specifically applied to robot manipulators. The algorithm combines sliding mode control, fuzzy logic control, and adaptive methods to address some limitations of each approach. Specifically, fuzzy logic is used instead of saturation functions and dead zones to eliminate chattering. Fuzzy rules are also used to estimate the nonlinear dynamic equivalent control term, reducing complexity. Adaptive methods are used to continuously adjust the sliding function in real-time for improved performance with uncertain or time-varying parameters. The algorithm is tested in simulations of a PUMA robot manipulator.
Design Model-free Fuzzy Sliding Mode Control of Internal Combustion EngineCSCJournals
Modeling and control of engine systems are vital due to wide range of their applications. As it is obvious stability is the minimum requirement in any control system, however the proof of stability is not trivial especially in the case of nonlinear systems. One of the most active research areas in field of internal combustion engine (IC engine) is control of the fuel ratio. The strategies for control of engines are classified into two main groups: classical and non-classical methods, where the classical methods used the conventional control theory and non-classical methods used the artificial intelligence theory such as fuzzy logic, neural networks and/or neurofuzzy. One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems is sliding mode controller (SMC). Chattering phenomenon is the most important challenge in this controller. Fuzzy logic and neuro control have been applied successfully in many applications. Therefore stable control of an internal combustion engine is challenging because it has uncertain dynamic parameters. This research presents a design fuzzy sliding mode controller with improved in sliding mode controller which offers a model-free sliding mode controller. The fuzzy sliding mode controller is designed as a 49 rules Mamdani’s error-based fuzzy sliding-like equivalent part instead of nonlinear dynamic equation of equivalent part. Various performance indices like the minimum error, trajectory, disturbance rejection, and chattering control are used for comparison.
Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot ManipulatorCSCJournals
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017).
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
The document describes research on designing artificial nonlinear robust controllers for robot manipulators. It discusses two classical nonlinear robust controllers - sliding mode controller (SMC) and computed torque controller (CTC) - and their limitations when applied to systems with uncertainties. It then proposes applying fuzzy logic methodology to these classical controllers to reduce their limitations. Specifically, it develops a fuzzy sliding mode controller with tunable gain (GTFSMC) and a computed torque-like controller with tunable gain (GTCTLC) that use fuzzy logic rules to eliminate the mathematical nonlinear dynamics and reduce chattering through optimization of the tunable gain parameter. The controllers aim to achieve satisfactory performance for robot manipulators operating in unknown environments with uncertainties and disturbances.
To design and implementation of variable and constant with no load for induction motor (IM) that is the goal in this work. This paper was including three parts, first the simulation model with no load for IM, Second the simulation model with constant load for IM, Third the simulation model with variable load for IM. In addition, this work includes comparative between two different controllers (PI and fuzzy logic control (FLC). The simulation results clearly the implementation of variable and constant with no load for IM. The simulation response of the system achieves better results when choosing to use type fuzzy-PI controller technique comparison with conventional PI controller and improve the performance of the system at different operation conditions.
1) The document presents a study on implementing a fuzzy logic controller for an AC generator to improve transient stability.
2) A single machine infinite bus power system model is used to evaluate the fuzzy logic controller and compare it to a conventional power system stabilizer.
3) The fuzzy logic controller uses the speed deviation and acceleration of the generator rotor as inputs, and computes stabilizing signals based on these variables and fuzzy membership functions to dampen mechanical oscillations.
Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modifi...Waqas Tariq
This document presents a novel particle swarm optimization sliding mode control algorithm using fuzzy logic to estimate uncertainties for nonlinear systems like robotic manipulators. The algorithm combines PSO, sliding mode control, and fuzzy logic to address issues like chattering and not requiring an accurate dynamic model. It estimates the equivalent dynamic term using fuzzy logic to compensate for uncertainties. PSO is used to tune parameters offline for improved performance. Stability of the closed-loop system is proved using the Lyapunov method. The algorithm aims to provide robust control of robotic manipulators without an accurate dynamic model.
Fuzzy Control of Yaw and Roll Angles of a Simulated Helicopter Model Includes...ijeei-iaes
Fuzzy logic controller (FLC) is a heuristic method by If-Then Rules which resembles human intelligence and it is a good method for designing Non-linear control systems. In this paper, an arbitrary helicopter model includes articulated manipulators has been simulated with Matlab SimMechanics toolbox. Due to the difficulties of modeling this complex system, a fuzzy controller with simple fuzzy rules has been designed for its yaw and roll angles in order to stabilize the helicopter while it is in the presence of disturbances or its manipulators are moving for a task. Results reveal that a simple FLC can appropriately control this system.
Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Al...CSCJournals
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. The outputs represent angular position, velocity and acceleration commands, respectively. The backstepping methodology is on-line tune the sliding function based on self tuning methodology. The performance of the backstepping on-line tune fuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robot manipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulation results signify good performance of position tracking in presence of uncertainty and external disturbance.
Digital Implementation of Fuzzy Logic Controller for Real Time Position Contr...IOSR Journals
Fuzzy Logic Controller (FLC) systems have emerged as one of the most promising areas for
Industrial Applications. The highly growth of fuzzy logic applications led to the need of finding efficient way to
hardware implementation. Field Programmable Gate Array (FPGA) is the most important tool for hardware
implementation due to low consumption of energy, high speed of operation and large capacity of data storage.
In this paper, instead of an introduction to fuzzy logic control methodology, we have demonstrated the
implementation of a FLC through the use of the Very high speed integrated circuits Hardware Description
Language (VHDL) code. FLC is designed for position control of BLDC Motor. VHDL has been used to develop
FLC on FPGA. A Mamdani type FLC structure has been used to obtain the controller output. The controller
algorithm developed synthesized, simulated and implemented on FPGA Spartan 3E board.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Speed Control of Three Phase Induction Motor Using PLC under Open and Closed ...IJERA Editor
In today’s world industries demand process automation in all sectors, because automation results in better quality, increased production and reduced costs. The variable speed drives which can control the speed of AC/DC motors are indispensable controlling elements in automation systems. Depending on the application some of them are fixed speed and some of them are variable speed drives. The objective of the work is to monitor and control the speed of an Induction motor under various operating conditions such as no load and on load driven by AC Drive using programmable logic controller.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
It is known that controlling the speed of a three phase Induction Motor (IM) under different operating conditions is an important task and this can be accomplished through the process of controlling the applied voltage on its stator circuit. Conventional Proportional- Integral- Differeantional (PID) controller takes long time in selecting the error signal gain values. In this paper a hybrid Fuzzy Logic Controller (FLC) with Genetic Algorithm (GA) is proposed to reduce the selected time for the optimized error signal gain values and as a result inhances the controller and system performance. The proposed controller FL with GA is designed, modeled and simulated using MATLAB/ software under different load torque motor operating condition. The simulation result shows that the closed loop system performance efficiency under the controller has a maximum value of 95.92%. In terms of efficiency and at reference speed signal of 146.53 rad/sec, this system performance shows an inhancement of 0.67%,0.49% and 0.05% with respect to the closed loop system efficiency performance of the PID, FL, and PID with GA controllers respectively. Also the simulation result of the well designed and efficient GA in speeding up the process of selecting the gain values, makes the system to have an efficiency improvement of 14.42% with respect to the open loop system performance.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
This document describes a novel adaptive feedback linearization fuzzy controller for robot manipulators. It begins by discussing limitations of traditional feedback linearization controllers, such as sensitivity to parameter uncertainty. It then proposes designing a feedback linearization fuzzy controller to address this issue. The key steps are: 1) designing the fuzzy controller, including fuzzifying inputs/outputs and developing a rule base, 2) developing an adaptive feedback linearization fuzzy controller by adding an adaptive law to tune fuzzy rule parameters online and improve disturbance rejection. The goal is to develop a robust position controller for robot manipulators that maintains acceptable performance despite nonlinearities and uncertainty.
A Brief Research On Turbojet Engine By Using MPM 20IJERA Editor
This document summarizes a research article about designing a digital control system for a small turbojet engine called the MPM 20. It begins by introducing the engine and describing its basic operation. It then discusses designing a digital control system using a PIC 16F84A microcontroller to control a servo-vent valve and manipulate fuel flow, allowing dynamic control of the engine's RPM. It proposes a situational control system approach incorporating neural networks and fuzzy logic to create an accurate dynamic model of the engine and allow control across its full operating range.
A New Estimate Sliding Mode Fuzzy Controller for Robotic ManipulatorWaqas Tariq
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
In this research, a model free sliding mode fuzzy adaptive inverse dynamic fuzzy controller (SMFIDFC) is designed for a robot manipulator to rich the best performance. Inverse dynamic controller is considered because of its high performance in certain system. Fuzzy methodology has been included in inverse dynamic to keep away from design nonlinear controller based on dynamic model. Sliding mode fuzzy adaptive methodology is applied to model free controller to have better result in presence of structure and unstructured uncertainties. Besides, this control method can be applied to non-linear systems easily. Today, strong mathematical tools are used in new control methodologies to design adaptive nonlinear controller with satisfactory output results (e.g., minimum error, good trajectory, disturbance rejection).
This document compares the switching behaviors of field oriented control (FOC) and direct torque control (DTC) for induction motors. Experimental tests using a dSpace 1103 controller board show that under no load conditions, FOC produces less torque ripple than DTC. However, the switching frequency of the inverter for a FOC controlled motor is about 75% higher than for a DTC controlled motor. Therefore, DTC may be preferable when fast dynamic performance is critical, while FOC provides better torque quality.
This paper introduces experimental comparison study between six and four switch inverter fed three phase induction motor drive system. The control strategy of the drive is based on speed sensoreless vector control using model reference adaptive system as a speed estimator. The adaptive mechanism of speed control loop depends on fuzzy logic control. Four switch inverter conFigureurations reduces the cost of the inverter, the switching losses, the complexity of the control algorithms, interface circuits, the computation of real-time implementation, volume-compactness and reliability of the drive system. The robustness of the proposed model reference adaptive system based on four switch three-phase inverter (FSTPI) fed induction motor drive is verified experimentally at different operating conditions. Experimental work is carried using digital signal processor (DSP1103) for a 1.1 kW motor. A performance comparison of the proposed FSTP inverter fed IM drive with a conventional six switch three-phase inverter (SSTP) inverter system is also made in terms of speed response. The results show that the proposed drive system provides a fast speed response and good disturbance rejection capability. The proposed FSTP inverter fed IM drive is found quite acceptable considering its performance, cost reduction and other advantages features.
Control systems project report (180501008)(180501016)(180501018)(180501020)khang31
A cruise control system for an electric vehicle has been modeled in MATLAB Simulink. A PI controller controls torque and a PID controller controls speed. The effect of the controllers and different inputs were analyzed. With both controllers, the system became stable, while it was unstable with no controllers. Step, ramp, and sine wave inputs all stabilized. Key parameters like peak time, rise time, and settling time were calculated from the output.
This document describes the design and analysis of a single cylinder two-stroke diesel engine. It includes sections on the basic terminology of a camshaft, materials used for camshafts, types of camshaft assemblies, parts of a camshaft, cycles of the camshaft, timing of the camshaft, maintenance of camshafts, and a case study on modeling the temperature distribution of a camshaft using finite element analysis. Key assumptions of the case study are that it will focus on a gear-driven camshaft assembly using the timing values of a Porsche 968 engine.
Consider the following nonlinear system:
dx/dt = f(x) + g(x)u
Where x is an n-dimensional vector and f and g are sufficiently smooth vector fields.
The goal is to design a feedback control law u = α(x) that renders the origin globally asymptotically stable (GAS).
Backstepping provides a systematic approach to solve this problem by considering the system as a cascade of "pseudo" linear systems with intermediate virtual controls.
The procedure recursively constructs stabilizing functions and control laws to backstep through this cascade until the actual control input is determined.
This approach systematically cancels out the nonlinearities in f while preserving the desirable properties introduced by g
Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot ManipulatorCSCJournals
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017).
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
The document describes research on designing artificial nonlinear robust controllers for robot manipulators. It discusses two classical nonlinear robust controllers - sliding mode controller (SMC) and computed torque controller (CTC) - and their limitations when applied to systems with uncertainties. It then proposes applying fuzzy logic methodology to these classical controllers to reduce their limitations. Specifically, it develops a fuzzy sliding mode controller with tunable gain (GTFSMC) and a computed torque-like controller with tunable gain (GTCTLC) that use fuzzy logic rules to eliminate the mathematical nonlinear dynamics and reduce chattering through optimization of the tunable gain parameter. The controllers aim to achieve satisfactory performance for robot manipulators operating in unknown environments with uncertainties and disturbances.
To design and implementation of variable and constant with no load for induction motor (IM) that is the goal in this work. This paper was including three parts, first the simulation model with no load for IM, Second the simulation model with constant load for IM, Third the simulation model with variable load for IM. In addition, this work includes comparative between two different controllers (PI and fuzzy logic control (FLC). The simulation results clearly the implementation of variable and constant with no load for IM. The simulation response of the system achieves better results when choosing to use type fuzzy-PI controller technique comparison with conventional PI controller and improve the performance of the system at different operation conditions.
1) The document presents a study on implementing a fuzzy logic controller for an AC generator to improve transient stability.
2) A single machine infinite bus power system model is used to evaluate the fuzzy logic controller and compare it to a conventional power system stabilizer.
3) The fuzzy logic controller uses the speed deviation and acceleration of the generator rotor as inputs, and computes stabilizing signals based on these variables and fuzzy membership functions to dampen mechanical oscillations.
Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modifi...Waqas Tariq
This document presents a novel particle swarm optimization sliding mode control algorithm using fuzzy logic to estimate uncertainties for nonlinear systems like robotic manipulators. The algorithm combines PSO, sliding mode control, and fuzzy logic to address issues like chattering and not requiring an accurate dynamic model. It estimates the equivalent dynamic term using fuzzy logic to compensate for uncertainties. PSO is used to tune parameters offline for improved performance. Stability of the closed-loop system is proved using the Lyapunov method. The algorithm aims to provide robust control of robotic manipulators without an accurate dynamic model.
Fuzzy Control of Yaw and Roll Angles of a Simulated Helicopter Model Includes...ijeei-iaes
Fuzzy logic controller (FLC) is a heuristic method by If-Then Rules which resembles human intelligence and it is a good method for designing Non-linear control systems. In this paper, an arbitrary helicopter model includes articulated manipulators has been simulated with Matlab SimMechanics toolbox. Due to the difficulties of modeling this complex system, a fuzzy controller with simple fuzzy rules has been designed for its yaw and roll angles in order to stabilize the helicopter while it is in the presence of disturbances or its manipulators are moving for a task. Results reveal that a simple FLC can appropriately control this system.
Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Al...CSCJournals
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. The outputs represent angular position, velocity and acceleration commands, respectively. The backstepping methodology is on-line tune the sliding function based on self tuning methodology. The performance of the backstepping on-line tune fuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robot manipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulation results signify good performance of position tracking in presence of uncertainty and external disturbance.
Digital Implementation of Fuzzy Logic Controller for Real Time Position Contr...IOSR Journals
Fuzzy Logic Controller (FLC) systems have emerged as one of the most promising areas for
Industrial Applications. The highly growth of fuzzy logic applications led to the need of finding efficient way to
hardware implementation. Field Programmable Gate Array (FPGA) is the most important tool for hardware
implementation due to low consumption of energy, high speed of operation and large capacity of data storage.
In this paper, instead of an introduction to fuzzy logic control methodology, we have demonstrated the
implementation of a FLC through the use of the Very high speed integrated circuits Hardware Description
Language (VHDL) code. FLC is designed for position control of BLDC Motor. VHDL has been used to develop
FLC on FPGA. A Mamdani type FLC structure has been used to obtain the controller output. The controller
algorithm developed synthesized, simulated and implemented on FPGA Spartan 3E board.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Speed Control of Three Phase Induction Motor Using PLC under Open and Closed ...IJERA Editor
In today’s world industries demand process automation in all sectors, because automation results in better quality, increased production and reduced costs. The variable speed drives which can control the speed of AC/DC motors are indispensable controlling elements in automation systems. Depending on the application some of them are fixed speed and some of them are variable speed drives. The objective of the work is to monitor and control the speed of an Induction motor under various operating conditions such as no load and on load driven by AC Drive using programmable logic controller.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
It is known that controlling the speed of a three phase Induction Motor (IM) under different operating conditions is an important task and this can be accomplished through the process of controlling the applied voltage on its stator circuit. Conventional Proportional- Integral- Differeantional (PID) controller takes long time in selecting the error signal gain values. In this paper a hybrid Fuzzy Logic Controller (FLC) with Genetic Algorithm (GA) is proposed to reduce the selected time for the optimized error signal gain values and as a result inhances the controller and system performance. The proposed controller FL with GA is designed, modeled and simulated using MATLAB/ software under different load torque motor operating condition. The simulation result shows that the closed loop system performance efficiency under the controller has a maximum value of 95.92%. In terms of efficiency and at reference speed signal of 146.53 rad/sec, this system performance shows an inhancement of 0.67%,0.49% and 0.05% with respect to the closed loop system efficiency performance of the PID, FL, and PID with GA controllers respectively. Also the simulation result of the well designed and efficient GA in speeding up the process of selecting the gain values, makes the system to have an efficiency improvement of 14.42% with respect to the open loop system performance.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
This document describes a novel adaptive feedback linearization fuzzy controller for robot manipulators. It begins by discussing limitations of traditional feedback linearization controllers, such as sensitivity to parameter uncertainty. It then proposes designing a feedback linearization fuzzy controller to address this issue. The key steps are: 1) designing the fuzzy controller, including fuzzifying inputs/outputs and developing a rule base, 2) developing an adaptive feedback linearization fuzzy controller by adding an adaptive law to tune fuzzy rule parameters online and improve disturbance rejection. The goal is to develop a robust position controller for robot manipulators that maintains acceptable performance despite nonlinearities and uncertainty.
A Brief Research On Turbojet Engine By Using MPM 20IJERA Editor
This document summarizes a research article about designing a digital control system for a small turbojet engine called the MPM 20. It begins by introducing the engine and describing its basic operation. It then discusses designing a digital control system using a PIC 16F84A microcontroller to control a servo-vent valve and manipulate fuel flow, allowing dynamic control of the engine's RPM. It proposes a situational control system approach incorporating neural networks and fuzzy logic to create an accurate dynamic model of the engine and allow control across its full operating range.
A New Estimate Sliding Mode Fuzzy Controller for Robotic ManipulatorWaqas Tariq
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
In this research, a model free sliding mode fuzzy adaptive inverse dynamic fuzzy controller (SMFIDFC) is designed for a robot manipulator to rich the best performance. Inverse dynamic controller is considered because of its high performance in certain system. Fuzzy methodology has been included in inverse dynamic to keep away from design nonlinear controller based on dynamic model. Sliding mode fuzzy adaptive methodology is applied to model free controller to have better result in presence of structure and unstructured uncertainties. Besides, this control method can be applied to non-linear systems easily. Today, strong mathematical tools are used in new control methodologies to design adaptive nonlinear controller with satisfactory output results (e.g., minimum error, good trajectory, disturbance rejection).
This document compares the switching behaviors of field oriented control (FOC) and direct torque control (DTC) for induction motors. Experimental tests using a dSpace 1103 controller board show that under no load conditions, FOC produces less torque ripple than DTC. However, the switching frequency of the inverter for a FOC controlled motor is about 75% higher than for a DTC controlled motor. Therefore, DTC may be preferable when fast dynamic performance is critical, while FOC provides better torque quality.
This paper introduces experimental comparison study between six and four switch inverter fed three phase induction motor drive system. The control strategy of the drive is based on speed sensoreless vector control using model reference adaptive system as a speed estimator. The adaptive mechanism of speed control loop depends on fuzzy logic control. Four switch inverter conFigureurations reduces the cost of the inverter, the switching losses, the complexity of the control algorithms, interface circuits, the computation of real-time implementation, volume-compactness and reliability of the drive system. The robustness of the proposed model reference adaptive system based on four switch three-phase inverter (FSTPI) fed induction motor drive is verified experimentally at different operating conditions. Experimental work is carried using digital signal processor (DSP1103) for a 1.1 kW motor. A performance comparison of the proposed FSTP inverter fed IM drive with a conventional six switch three-phase inverter (SSTP) inverter system is also made in terms of speed response. The results show that the proposed drive system provides a fast speed response and good disturbance rejection capability. The proposed FSTP inverter fed IM drive is found quite acceptable considering its performance, cost reduction and other advantages features.
Control systems project report (180501008)(180501016)(180501018)(180501020)khang31
A cruise control system for an electric vehicle has been modeled in MATLAB Simulink. A PI controller controls torque and a PID controller controls speed. The effect of the controllers and different inputs were analyzed. With both controllers, the system became stable, while it was unstable with no controllers. Step, ramp, and sine wave inputs all stabilized. Key parameters like peak time, rise time, and settling time were calculated from the output.
This document describes the design and analysis of a single cylinder two-stroke diesel engine. It includes sections on the basic terminology of a camshaft, materials used for camshafts, types of camshaft assemblies, parts of a camshaft, cycles of the camshaft, timing of the camshaft, maintenance of camshafts, and a case study on modeling the temperature distribution of a camshaft using finite element analysis. Key assumptions of the case study are that it will focus on a gear-driven camshaft assembly using the timing values of a Porsche 968 engine.
Consider the following nonlinear system:
dx/dt = f(x) + g(x)u
Where x is an n-dimensional vector and f and g are sufficiently smooth vector fields.
The goal is to design a feedback control law u = α(x) that renders the origin globally asymptotically stable (GAS).
Backstepping provides a systematic approach to solve this problem by considering the system as a cascade of "pseudo" linear systems with intermediate virtual controls.
The procedure recursively constructs stabilizing functions and control laws to backstep through this cascade until the actual control input is determined.
This approach systematically cancels out the nonlinearities in f while preserving the desirable properties introduced by g
AN EXPERIMENTAL INVESTIGATION ON ENGINE PERFORMANCE OF A LOW HEAT REJECTION (...IAEME Publication
In Present Investigation at the first stage, experiments were conducted on baseline (Conventional) engine and hence combustion and emission Parameters were recorded. At second stage Mullite, which is a compound of SiO2 and Al2O3 with composition 3Al2O3.2SiO2 (Aluminium oxide 60% and Silicon dioxide 40%), was used as a (TBC) thermal barrier coating material. The piston crown, cylinder valves and cylinder head of diesel engine were coated with a 0.5 mm thickness of 3Al2O3.2SiO2 (mullite) over a 150-µm thickness of Nickel Chrome Aluminium Yttrium (NiCrAlY) bond coat using plasma spray technique to achieve less heat loss and combustion and emission Parameters were recorded for LHR engine.
Camless engines eliminate mechanical linkages like camshafts that traditionally open and close intake and exhaust valves. Instead, camless engines use electro-hydraulic or electromechanical systems to provide infinite control over valve timing, lift, and duration. This allows for greater engine efficiency and power. Sensors detect operating conditions and an electronic control unit actuates solenoids and hydraulic systems to optimize valve behavior for each situation. While camless engines are more expensive and complex than traditional designs, their performance advantages are expected to lead to their increased adoption over time.
This document discusses the operation and design of multi-cylinder engines. It describes how multi-cylinder engines distribute the load on the crankshaft uniformly by spacing piston power strokes at regular intervals. The firing order determines the sequence of power strokes in the cylinders. The document also describes the key components that make up the engine framework, including the cylinder block and crankcase unit, which houses the cylinders, crankshaft, and camshaft. It details the construction of in-line, V-type, and air-cooled engine frameworks.
The document discusses diesel engine emissions, including the formation of pollutants like CO, unburned hydrocarbons, NOx, smoke, and particulate matter. It explains the sources and mechanisms of emission formation during the two combustion phases in diesel engines. Variables like injection parameters, engine load, speed, and exhaust gas recirculation affect emission levels by influencing combustion temperature and equivalence ratios. Emission control technologies help reduce pollutants and allow engines to meet regulatory standards.
Developing a Programme for Engine Design Calculations of a Commercial AirlinerIJMER
This project leads to a path of understanding the necessary fundamental calculations that
need to be done during an engine design of a commercial airliner. These calculations are hand based
calculations that are done based on the parameters of the airframe data provided by the airline
manufacturers. These calculations are a little tedious and require a paper and a pen to carry out the
procedures. This project will enable the following outcomes for the students: providing a fundamental
understanding of the aircraft engine design, more from the grounds up approach and an automated way
(program) of doing the above, enabling faster iterations and making it easy to achieve the required
parameters for designing an engine
Camless engines eliminate mechanical linkages between the crankshaft and valves, allowing for infinite variability of valve timing, lift, and duration. Sensors monitor engine parameters and send signals to an ECU, which controls actuators to vary the valves as needed. This electrohydraulic camless system uses compressed hydraulic fluid and a hydraulic pendulum mechanism to accelerate and decelerate the valves independently according to requirements. Camless engines provide benefits like improved fuel efficiency, higher power and torque, and reduced size and weight compared to conventional camshaft engines. However, they also have disadvantages including added complexity and costs. Overall, camless valve technologies are expected to replace conventional camshaft designs in the future.
Indirect Vector Control of Induction Motor Using Pi Speed Controller and Neur...IJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Dynamic Simulation of Induction Motor Drive using Neuro Controlleridescitation
Induction Motors are widely used in Industries, because of the low maintenance
and robustness. Speed Control of Induction motor can be obtained by maximum torque and
efficiency. Apart from other techniques Artificial Intelligence (AI) techniques, particularly
the neural networks, improves the performance & operation of induction motor drives. This
paper presents dynamic simulation of induction motor drive using neuro controller. The
integrated environment allows users to compare simulation results between conventional,
Fuzzy and Neural Network controller (NNW).The performance of fuzzy logic and artificial
neural network based controller's are compared with that of the conventional proportional
integral controller. The dynamic Modeling and Simulation of Induction motor is done using
MATLAB/SIMULINK and the dynamic performance of induction motor drive has been
analyzed for artificial intelligent controller.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator S...Waqas Tariq
In this research, a Multi Input Multi Output (MIMO) position Field Programmable Gate Array (FPGA)-based fuzzy estimator sliding mode control (SMC) design with the estimation laws derived in Lyapunov sense and application to robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy inference methodology and Lyapunov based method, the controllers output has improved. The main target in this research is analyses and design of the position MIMO artificial Lyapunov FPGA-based controller for robot manipulator in order to solve uncertainty, external disturbance, nonlinear equivalent part, chattering phenomenon, time to market and controller size using FPGA. Robot manipulators are nonlinear, time variant and a number of parameters are uncertain therefore design robust and stable controller based on Lyapunov based is discussed in this research. Studies about classical sliding mode controller (SMC) show that: although this controller has acceptable performance with known dynamic parameters such as stability and robustness but there are two important disadvantages as below: chattering phenomenon and mathematical nonlinear dynamic equivalent controller part. The first challenge; nonlinear dynamic part; is applied by inference estimator method in sliding mode controller in order to solve the nonlinear problems in classical sliding mode controller. And the second challenge; chattering phenomenon; is removed by linear method. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov. In the last part it can find the implementation of MIMO fuzzy estimator sliding mode controller on FPGA; FPGA-based fuzzy estimator sliding mode controller has many advantages such as high speed, low cost, short time to market and small device size. One of the most important drawbacks is limited capacity of available cells which this research focuses to solve this challenge. FPGA can be used to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is designed using Very High Description Language (VHDL) for implementation on FPGA device (XA3S1600E-Spartan-3E), with minimum chattering.
Design and implementation of antenna control servo system for satellite grouIAEME Publication
This document summarizes the design and implementation of an antenna control servo system for a satellite ground station. It describes the modeling and analysis of the system both theoretically and experimentally. Key aspects include designing the drive control system for the antenna, integrating drive chains for elevation and azimuth axes, optimizing the system through mathematical modeling and simulation, and testing the operational system by tracking real satellite passes. Both simulation and experimental results showed the system providing stable and accurate antenna positioning to receive satellite data as required.
Optimal tuning of pid power system stabilizer in simulink environmentIAEME Publication
This document summarizes a research paper that proposes using an optimal tuning method based on the Ziegler-Nichols tuning rules to determine the parameters of a PID power system stabilizer (PSS) controller in a MATLAB/Simulink model. The paper models a single machine connected to an infinite bus system, adds a PID controller with PSS, and simulates the system under normal load conditions. Simulation results show that the Ziegler-Nichols method yields PID controller parameters that provide better dynamic performance compared to a conventional trial and error approach, with lower overshoot and shorter settling time. The proposed optimally tuned PID-PSS controller thus improves the stability and performance of the synchronous generator in the simulated power system.
This document describes a PID controller with self-tuning capabilities using fuzzy logic. It replaces the conventional PID controller in a chopper-fed DC motor drive system to improve performance. The PID gains (KP, KI, KD) are automatically tuned online by a fuzzy logic controller based on the error and change in error. This allows the PID gains to adapt as needed for different operating conditions. Simulation results showed the proposed self-tuning PID controller performed better than a conventional PID controller.
An overview of a continuous monitoring and control system for 3 phase inductIAEME Publication
This document provides an overview of a continuous monitoring and control system for 3-phase induction motors using programmable logic controller (PLC) and supervisory control and data acquisition (SCADA) technology. The system allows for constant speed control of induction motors despite varying loads. It uses a PLC to control a variable frequency drive which regulates motor speed based on feedback sensors. All motor performance data is sent to a personal computer via the PLC for analysis. This provides improved control, flexibility and reliability compared to conventional control systems.
Speed control of dc motor using relay feedback tuned piAlexander Decker
This document discusses speed control of a DC motor using different controller types, including a relay feedback tuned PI controller, fuzzy PI controller (FPIC), and self-tuned fuzzy PI controller (STFPIC). The FPIC and STFPIC are developed using fuzzy logic to overcome limitations of conventional PID controllers for nonlinear systems without an accurate mathematical model. An experimental setup is used to test the controllers' performance on a DC motor. Results show the model-independent STFPIC and FPIC controllers improve speed control performance compared to the relay-tuned PI controller.
Position control of a single arm manipulator using ga pid controllerIAEME Publication
This document discusses using a genetic algorithm to optimize the gains of a PID controller for a fixed arm manipulator system. It begins by describing the hardware and software implementation of the fixed arm system, including sensors, actuators, and control interfaces. It then applies a system identification technique to develop a transfer function model of the system based on experimental input/output data. Finally, it uses a genetic algorithm offline to search for the optimal PID gain values that minimize errors for the identified system model. The optimal PID gains found using the genetic algorithm are then applied to the real fixed arm system for control.
Comparison Analysis of Indirect FOC Induction Motor Drive using PI, Anti-Wind...IAES-IJPEDS
This paper presents the speed performance analysis of indirect Field Oriented Control (FOC) induction motor drive by applying Proportional Integral (PI) controller, PI with Anti-Windup (PIAW) and Pre- Filter (PF). The objective of this experiment is to have quantitative comparison between the controller strategies towards the performance of the motor in term of speed tracking and load rejection capability in low, medium and rated speed operation. In the first part, PI controller is applied to the FOC induction motor drive which the gain is obtained based on determined Induction Motor (IM) motor parameters. Secondly an AWPI strategy is added to the outer loop and finally, PF is added to the system. The Space Vector Pulse Width Modulation (SVPWM) technique is used to control the voltage source inverter and complete vector control scheme of the IM drive is tested by using a DSpace 1103 controller board. The analysis of the results shows that, the PI and AWPI controller schemes produce similar performance at low speed operation. However, for the medium and rated speed operation the AWPI scheme shown significant improvement in reducing the overshoot problem and improving the setting time. The PF scheme on the other hand, produces a slower speed and torque response for all tested speed operation. All schemes show similar performance for load disturbance rejection capability.
A Comparative Study of GA tuned and PSO tuned PI Controller Based Speed Contr...paperpublications3
This document presents a comparative study of using genetic algorithm (GA) and particle swarm optimization (PSO) techniques to tune the parameters of a PI controller for speed control of a brushless DC motor. It describes brushless DC motors and their advantages over conventional DC motors. It also provides details on PI controller tuning and explains the PSO and GA optimization algorithms. The results show that both PSO and GA techniques were able to optimize the PI controller parameters to improve the motor speed response. However, GA produced a slightly better fitness value than PSO based on the integral absolute error performance criterion used in the study.
Analysis and implementation of local modular supervisory control forIAEME Publication
1. The document describes the analysis and implementation of a local modular supervisory control system for a manufacturing cell using programmable logic controllers (PLCs).
2. A local modular approach is used where modular supervisors are obtained for each behavioral specification by considering only locally affected subsystems, avoiding state space explosion.
3. The modular supervisors are implemented on the PLC in a three-level structure that executes the supervisors concurrently and interfaces them to the physical system.
A Novel Technique for Tuning PI-controller in Switched Reluctance Motor Drive...IJECEIAES
This paper presents, an optimal basic speed controller for switched reluctance motor (SRM) based on ant colony optimization (ACO) with the presence of good accuracies and performances. The control mechanism consists of proportional-integral (PI) speed controller in the outer loop and hysteresis current controller in the inner loop for the three phases, 6/4 switched reluctance motor. Because of nonlinear characteristics of a SRM, ACO algorithm is employed to tune coefficients of PI speed controller by minimizing the time domain objective function. Simulations of ACO based control of SRM are carried out using MATLAB /SIMULINK software. The behavior of the proposed ACO has been estimated with the classical Ziegler- Nichols (ZN) method in order to prove the proposed approach is able to improve the parameters of PI chosen by ZN method. Simulations results confirm the better behavior of the optimized PI controller based on ACO compared with optimized PI controller based on classical Ziegler-Nichols method.
IRJET- Fuzzy predictive control of Variable Speed Wind Turbines using Fuzzy T...IRJET Journal
This document presents a fuzzy logic controller for maximum power extraction from variable speed wind turbines. It proposes estimating the effective wind speed using three algorithms that solve power balance equations, since wind speed cannot be directly measured. The estimated wind speed is used to determine the optimal rotor speed reference for generator control. A fuzzy logic controller is designed using two inputs (error and change in error) and one output (control output change). Simulation results show the effectiveness of the proposed wind speed estimation and fuzzy control approaches in tracking the optimal rotor speed compared to PI control.
IRJET- Multilevel Object Sorting System using PLC ControllerIRJET Journal
This document describes a multilevel object sorting system using a programmable logic controller (PLC). The system uses conveyor belts, sensors, pneumatic cylinders and a PLC to sort objects by height. Laser sensors detect the height of objects on the conveyor belt and send signals to the PLC. The PLC then controls pneumatic cylinders to push objects off the conveyor belt into different sorting bins based on each object's measured height. The goal is to develop an automated low-cost sorting solution for industrial applications.
IRJET-Investigation of Three Phase Induction Speed Control Strategies using N...IRJET Journal
This document discusses speed control strategies for a three-phase induction motor using different controllers. It first introduces induction motors and their challenges in speed control due to their complex nonlinear dynamics. It then discusses various speed control techniques including proportional (P), proportional-integral (PI) and proportional-integral-derivative (PID) control. The document presents MATLAB simulations of speed control using these different controllers under full load conditions. The results show that PID control provides more efficient speed control with minimal steady state error and faster response compared to no controller or only P control. Vector control techniques are used to implement the speed controllers in the simulation.
The aim of this paper is to prove that fuzzy logic algorithm is a suitable control technique for fast processes such as electrical machines. This theory has been experimented on different kinds of electrical machines such as stepping motors, dc motors and induction machines (with 6 phases) and the experimental results show that the proposed fuzzy logic algorithm is the most suitable control technique for electrical machines since this algorithm is not time consuming and it is also robust between plant parameters variations.
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...IRJET Journal
The document describes modeling and control of a spherical rolling robot using model reference adaptive control (MRAC). It presents the mathematical model developed for the robot based on its nonholonomic constraints. MRAC is used to control the robot by adjusting controller parameters to minimize the error between the robot's actual output and the output of a reference model for ideal behavior. Simulation results show the proposed MRAC scheme eliminates steady state error and improves transient response without requiring knowledge of the robot's dynamic equations.
Development of an electronic control unit for fuel injection of an ic engineeSAT Journals
Abstract Injection of the fuel into the manifold of gasoline engines has become very common. Through the concept is not new, the advent of cost effective, compact and reliable electronic controls has a lot to do with the success of fuel injection in gasoline engines. Electronics has begun to play a key role in fuel management and ignition. The modern internal combustion has to meet extreme requirements of high power to weight ratio, low exhaust emission levels and high thermal efficiency. The precise control of the ignition timing, which is possible by electronic means, allows reliable combustion with low cycle by cycle variations. Such systems also allow the engine to run under conditions very close to knock onset so that maximum thermal efficiency can be realized. Electronic control of the injection system allows us to select correct air fuel ratio for different operating conditions. It reduces mal-distribution between cylinders and leads to extremely low levels of exhaust emissions. Stable idling can also be achieved through the use of electronic controls. In this present work an ECU (Electronic Control Unit) hardware device is mainly developed for fuel injection control compatible with both 2-stroke and 4-stroke engines with PWM (Pulse Width Modulation) signal as input to the EFI (Electronic Fuel Injector). A slotted Optocoupler is used as the sensor for speed detection and producing the PWM signal. The EFI having solenoid controlled valve, which works on PWM signal to inject the fuel. 8051 microcontroller interfaced with the LCD to display the speed of the engine, has been used. The output PWM signals are tested with LabVIEW and the results are calibrated. Keywords: ECU, Slotted Optocoupler, Fuel Injection Circuit, LabVIEW.
Similar to Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control (20)
The Use of Java Swing’s Components to Develop a WidgetWaqas Tariq
Widget is a kind of application provides a single service such as a map, news feed, simple clock, battery-life indicators, etc. This kind of interactive software object has been developed to facilitate user interface (UI) design. A user interface (UI) function may be implemented using different widgets with the same function. In this article, we present the widget as a platform that is generally used in various applications, such as in desktop, web browser, and mobile phone. We also describe a visual menu of Java Swing’s components that will be used to establish widget. It will assume that we have successfully compiled and run a program that uses Swing components.
3D Human Hand Posture Reconstruction Using a Single 2D ImageWaqas Tariq
Passive sensing of the 3D geometric posture of the human hand has been studied extensively over the past decade. However, these research efforts have been hampered by the computational complexity caused by inverse kinematics and 3D reconstruction. In this paper, our objective focuses on 3D hand posture estimation based on a single 2D image with aim of robotic applications. We introduce the human hand model with 27 degrees of freedom (DOFs) and analyze some of its constraints to reduce the DOFs without any significant degradation of performance. A novel algorithm to estimate the 3D hand posture from eight 2D projected feature points is proposed. Experimental results using real images confirm that our algorithm gives good estimates of the 3D hand pose. Keywords: 3D hand posture estimation; Model-based approach; Gesture recognition; human- computer interface; machine vision.
Camera as Mouse and Keyboard for Handicap Person with Troubleshooting Ability...Waqas Tariq
Camera mouse has been widely used for handicap person to interact with computer. The utmost important of the use of camera mouse is must be able to replace all roles of typical mouse and keyboard. It must be able to provide all mouse click events and keyboard functions (include all shortcut keys) when it is used by handicap person. Also, the use of camera mouse must allow users troubleshooting by themselves. Moreover, it must be able to eliminate neck fatigue effect when it is used during long period. In this paper, we propose camera mouse system with timer as left click event and blinking as right click event. Also, we modify original screen keyboard layout by add two additional buttons (button “drag/ drop” is used to do drag and drop of mouse events and another button is used to call task manager (for troubleshooting)) and change behavior of CTRL, ALT, SHIFT, and CAPS LOCK keys in order to provide shortcut keys of keyboard. Also, we develop recovery method which allows users go from camera and then come back again in order to eliminate neck fatigue effect. The experiments which involve several users have been done in our laboratory. The results show that the use of our camera mouse able to allow users do typing, left and right click events, drag and drop events, and troubleshooting without hand. By implement this system, handicap person can use computer more comfortable and reduce the dryness of eyes.
A Proposed Web Accessibility Framework for the Arab DisabledWaqas Tariq
The Web is providing unprecedented access to information and interaction for people with disabilities. This paper presents a Web accessibility framework which offers the ease of the Web accessing for the disabled Arab users and facilitates their lifelong learning as well. The proposed framework system provides the disabled Arab user with an easy means of access using their mother language so they don’t have to overcome the barrier of learning the target-spoken language. This framework is based on analyzing the web page meta-language, extracting its content and reformulating it in a suitable format for the disabled users. The basic objective of this framework is supporting the equal rights of the Arab disabled people for their access to the education and training with non disabled people. Key Words : Arabic Moon code, Arabic Sign Language, Deaf, Deaf-blind, E-learning Interactivity, Moon code, Web accessibility , Web framework , Web System, WWW.
Real Time Blinking Detection Based on Gabor FilterWaqas Tariq
The document proposes a new method for real-time blinking detection based on Gabor filters. It begins by reviewing existing methods and their limitations in dealing with noise, variations in eye shape, and blinking speed. The proposed method uses a Gabor filter to extract the top and bottom arcs of the eye from an image. It then measures the distance between these arcs and compares it to a threshold: a distance below the threshold indicates a closed eye, while a distance above indicates an open eye. The document claims this Gabor filter-based approach is robust to noise, variations in eye shape and blinking speed. It presents experimental results showing the method can accurately detect blinking across different users.
Computer Input with Human Eyes-Only Using Two Purkinje Images Which Works in ...Waqas Tariq
A method for computer input with human eyes-only using two Purkinje images which works in a real time basis without calibration is proposed. Experimental results shows that cornea curvature can be estimated by using two light sources derived Purkinje images so that no calibration for reducing person-to-person difference of cornea curvature. It is found that the proposed system allows usersf movements of 30 degrees in roll direction and 15 degrees in pitch direction utilizing detected face attitude which is derived from the face plane consisting three feature points on the face, two eyes and nose or mouth. Also it is found that the proposed system does work in a real time basis.
Toward a More Robust Usability concept with Perceived Enjoyment in the contex...Waqas Tariq
Mobile multimedia service is relatively new but has quickly dominated people¡¯s lives, especially among young people. To explain this popularity, this study applies and modifies the Technology Acceptance Model (TAM) to propose a research model and conduct an empirical study. The goal of study is to examine the role of Perceived Enjoyment (PE) and what determinants can contribute to PE in the context of using mobile multimedia service. The result indicates that PE is influencing on Perceived Usefulness (PU) and Perceived Ease of Use (PEOU) and directly Behavior Intention (BI). Aesthetics and flow are key determinants to explain Perceived Enjoyment (PE) in mobile multimedia usage.
Collaborative Learning of Organisational KnolwedgeWaqas Tariq
This paper presents recent research into methods used in Australian Indigenous Knowledge sharing and looks at how these can support the creation of suitable collaborative envi- ronments for timely organisational learning. The protocols and practices as used today and in the past by Indigenous communities are presented and discussed in relation to their relevance to a personalised system of knowledge sharing in modern organisational cultures. This research focuses on user models, knowledge acquisition and integration of data for constructivist learning in a networked repository of or- ganisational knowledge. The data collected in the repository is searched to provide collections of up-to-date and relevant material for training in a work environment. The aim is to improve knowledge collection and sharing in a team envi- ronment. This knowledge can then be collated into a story or workflow that represents the present knowledge in the organisation.
Our research aims to propose a global approach for specification, design and verification of context awareness Human Computer Interface (HCI). This is a Model Based Design approach (MBD). This methodology describes the ubiquitous environment by ontologies. OWL is the standard used for this purpose. The specification and modeling of Human-Computer Interaction are based on Petri nets (PN). This raises the question of representation of Petri nets with XML. We use for this purpose, the standard of modeling PNML. In this paper, we propose an extension of this standard for specification, generation and verification of HCI. This extension is a methodological approach for the construction of PNML with Petri nets. The design principle uses the concept of composition of elementary structures of Petri nets as PNML Modular. The objective is to obtain a valid interface through verification of properties of elementary Petri nets represented with PNML.
Development of Sign Signal Translation System Based on Altera’s FPGA DE2 BoardWaqas Tariq
The main aim of this paper is to build a system that is capable of detecting and recognizing the hand gesture in an image captured by using a camera. The system is built based on Altera’s FPGA DE2 board, which contains a Nios II soft core processor. Image processing techniques and a simple but effective algorithm are implemented to achieve this purpose. Image processing techniques are used to smooth the image in order to ease the subsequent processes in translating the hand sign signal. The algorithm is built for translating the numerical hand sign signal and the result are displayed on the seven segment display. Altera’s Quartus II, SOPC Builder and Nios II EDS software are used to construct the system. By using SOPC Builder, the related components on the DE2 board can be interconnected easily and orderly compared to traditional method that requires lengthy source code and time consuming. Quartus II is used to compile and download the design to the DE2 board. Then, under Nios II EDS, C programming language is used to code the hand sign translation algorithm. Being able to recognize the hand sign signal from images can helps human in controlling a robot and other applications which require only a simple set of instructions provided a CMOS sensor is included in the system.
An overview on Advanced Research Works on Brain-Computer InterfaceWaqas Tariq
A brain–computer interface (BCI) is a proficient result in the research field of human- computer synergy, where direct articulation between brain and an external device occurs resulting in augmenting, assisting and repairing human cognitive. Advanced works like generating brain-computer interface switch technologies for intermittent (or asynchronous) control in natural environments or developing brain-computer interface by Fuzzy logic Systems or by implementing wavelet theory to drive its efficacies are still going on and some useful results has also been found out. The requirements to develop this brain machine interface is also growing day by day i.e. like neuropsychological rehabilitation, emotion control, etc. An overview on the control theory and some advanced works on the field of brain machine interface are shown in this paper.
Exploring the Relationship Between Mobile Phone and Senior Citizens: A Malays...Waqas Tariq
There is growing ageing phenomena with the rise of ageing population throughout the world. According to the World Health Organization (2002), the growing ageing population indicates 694 million, or 223% is expected for people aged 60 and over, since 1970 and 2025.The growth is especially significant in some advanced countries such as North America, Japan, Italy, Germany, United Kingdom and so forth. This growing older adult population has significantly impact the social-culture, lifestyle, healthcare system, economy, infrastructure and government policy of a nation. However, there are limited research studies on the perception and usage of a mobile phone and its service for senior citizens in a developing nation like Malaysia. This paper explores the relationship between mobile phones and senior citizens in Malaysia from the perspective of a developing country. We conducted an exploratory study using contextual interviews with 5 senior citizens of how they perceive their mobile phones. This paper reveals 4 interesting themes from this preliminary study, in addition to the findings of the desirable mobile requirements for local senior citizens with respect of health, safety and communication purposes. The findings of this study bring interesting insight to local telecommunication industries as a whole, and will also serve as groundwork for more in-depth study in the future.
Principles of Good Screen Design in WebsitesWaqas Tariq
Visual techniques for proper arrangement of the elements on the user screen have helped the designers to make the screen look good and attractive. Several visual techniques emphasize the arrangement and ordering of the screen elements based on particular criteria for best appearance of the screen. This paper investigates few significant visual techniques in various web user interfaces and showcases the results for better understanding and their presence.
This document discusses the progress of virtual teams in Albania. It provides context on virtual teams and how they differ from traditional teams in their reliance on technology for communication across distances. The document then examines the use of virtual teams in Albania, noting the growing infrastructure and technology usage that enables virtual collaboration. It highlights some virtual team examples in Albanian government and academic projects.
Cognitive Approach Towards the Maintenance of Web-Sites Through Quality Evalu...Waqas Tariq
It is a well established fact that the Web-Applications require frequent maintenance because of cutting– edge business competitions. The authors have worked on quality evaluation of web-site of Indian ecommerce domain. As a result of that work they have made a quality-wise ranking of these sites. According to their work and also the survey done by various other groups Futurebazaar web-site is considered to be one of the best Indian e-shopping sites. In this research paper the authors are assessing the maintenance of the same site by incorporating the problems incurred during this evaluation. This exercise gives a real world maintainability problem of web-sites. This work will give a clear picture of all the quality metrics which are directly or indirectly related with the maintainability of the web-site.
USEFul: A Framework to Mainstream Web Site Usability through Automated Evalua...Waqas Tariq
A paradox has been observed whereby web site usability is proven to be an essential element in a web site, yet at the same time there exist an abundance of web pages with poor usability. This discrepancy is the result of limitations that are currently preventing web developers in the commercial sector from producing usable web sites. In this paper we propose a framework whose objective is to alleviate this problem by automating certain aspects of the usability evaluation process. Mainstreaming comes as a result of automation, therefore enabling a non-expert in the field of usability to conduct the evaluation. This results in reducing the costs associated with such evaluation. Additionally, the framework allows the flexibility of adding, modifying or deleting guidelines without altering the code that references them since the guidelines and the code are two separate components. A comparison of the evaluation results carried out using the framework against published evaluations of web sites carried out by web site usability professionals reveals that the framework is able to automatically identify the majority of usability violations. Due to the consistency with which it evaluates, it identified additional guideline-related violations that were not identified by the human evaluators.
Robot Arm Utilized Having Meal Support System Based on Computer Input by Huma...Waqas Tariq
A robot arm utilized having meal support system based on computer input by human eyes only is proposed. The proposed system is developed for handicap/disabled persons as well as elderly persons and tested with able persons with several shapes and size of eyes under a variety of illumination conditions. The test results with normal persons show the proposed system does work well for selection of the desired foods and for retrieve the foods as appropriate as usersf requirements. It is found that the proposed system is 21% much faster than the manually controlled robotics.
Dynamic Construction of Telugu Speech Corpus for Voice Enabled Text EditorWaqas Tariq
In recent decades speech interactive systems have gained increasing importance. Performance of an ASR system mainly depends on the availability of large corpus of speech. The conventional method of building a large vocabulary speech recognizer for any language uses a top-down approach to speech. This approach requires large speech corpus with sentence or phoneme level transcription of the speech utterances. The transcriptions must also include different speech order so that the recognizer can build models for all the sounds present. But, for Telugu language, because of its complex nature, a very large, well annotated speech database is very difficult to build. It is very difficult, if not impossible, to cover all the words of any Indian language, where each word may have thousands and millions of word forms. A significant part of grammar that is handled by syntax in English (and other similar languages) is handled within morphology in Telugu. Phrases including several words (that is, tokens) in English would be mapped on to a single word in Telugu.Telugu language is phonetic in nature in addition to rich in morphology. That is why the speech technology developed for English cannot be applied to Telugu language. This paper highlights the work carried out in an attempt to build a voice enabled text editor with capability of automatic term suggestion. Main claim of the paper is the recognition enhancement process developed by us for suitability of highly inflecting, rich morphological languages. This method results in increased speech recognition accuracy with very much reduction in corpus size. It also adapts Telugu words to the database dynamically, resulting in growth of the corpus.
An Improved Approach for Word Ambiguity RemovalWaqas Tariq
Word ambiguity removal is a task of removing ambiguity from a word, i.e. correct sense of word is identified from ambiguous sentences. This paper describes a model that uses Part of Speech tagger and three categories for word sense disambiguation (WSD). Human Computer Interaction is very needful to improve interactions between users and computers. For this, the Supervised and Unsupervised methods are combined. The WSD algorithm is used to find the efficient and accurate sense of a word based on domain information. The accuracy of this work is evaluated with the aim of finding best suitable domain of word. Keywords: Human Computer Interaction, Supervised Training, Unsupervised Learning, Word Ambiguity, Word sense disambiguation
Parameters Optimization for Improving ASR Performance in Adverse Real World N...Waqas Tariq
From the existing research it has been observed that many techniques and methodologies are available for performing every step of Automatic Speech Recognition (ASR) system, but the performance (Minimization of Word Error Recognition-WER and Maximization of Word Accuracy Rate- WAR) of the methodology is not dependent on the only technique applied in that method. The research work indicates that, performance mainly depends on the category of the noise, the level of the noise and the variable size of the window, frame, frame overlap etc is considered in the existing methods. The main aim of the work presented in this paper is to use variable size of parameters like window size, frame size and frame overlap percentage to observe the performance of algorithms for various categories of noise with different levels and also train the system for all size of parameters and category of real world noisy environment to improve the performance of the speech recognition system. This paper presents the results of Signal-to-Noise Ratio (SNR) and Accuracy test by applying variable size of parameters. It is observed that, it is really very hard to evaluate test results and decide parameter size for ASR performance improvement for its resultant optimization. Hence, this study further suggests the feasible and optimum parameter size using Fuzzy Inference System (FIS) for enhancing resultant accuracy in adverse real world noisy environmental conditions. This work will be helpful to give discriminative training of ubiquitous ASR system for better Human Computer Interaction (HCI). Keywords: ASR Performance, ASR Parameters Optimization, Multi-Environmental Training, Fuzzy Inference System for ASR, ubiquitous ASR system, Human Computer Interaction (HCI)
THE SACRIFICE HOW PRO-PALESTINE PROTESTS STUDENTS ARE SACRIFICING TO CHANGE T...indexPub
The recent surge in pro-Palestine student activism has prompted significant responses from universities, ranging from negotiations and divestment commitments to increased transparency about investments in companies supporting the war on Gaza. This activism has led to the cessation of student encampments but also highlighted the substantial sacrifices made by students, including academic disruptions and personal risks. The primary drivers of these protests are poor university administration, lack of transparency, and inadequate communication between officials and students. This study examines the profound emotional, psychological, and professional impacts on students engaged in pro-Palestine protests, focusing on Generation Z's (Gen-Z) activism dynamics. This paper explores the significant sacrifices made by these students and even the professors supporting the pro-Palestine movement, with a focus on recent global movements. Through an in-depth analysis of printed and electronic media, the study examines the impacts of these sacrifices on the academic and personal lives of those involved. The paper highlights examples from various universities, demonstrating student activism's long-term and short-term effects, including disciplinary actions, social backlash, and career implications. The researchers also explore the broader implications of student sacrifices. The findings reveal that these sacrifices are driven by a profound commitment to justice and human rights, and are influenced by the increasing availability of information, peer interactions, and personal convictions. The study also discusses the broader implications of this activism, comparing it to historical precedents and assessing its potential to influence policy and public opinion. The emotional and psychological toll on student activists is significant, but their sense of purpose and community support mitigates some of these challenges. However, the researchers call for acknowledging the broader Impact of these sacrifices on the future global movement of FreePalestine.
How to Manage Reception Report in Odoo 17Celine George
A business may deal with both sales and purchases occasionally. They buy things from vendors and then sell them to their customers. Such dealings can be confusing at times. Because multiple clients may inquire about the same product at the same time, after purchasing those products, customers must be assigned to them. Odoo has a tool called Reception Report that can be used to complete this assignment. By enabling this, a reception report comes automatically after confirming a receipt, from which we can assign products to orders.
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إضغ بين إيديكم من أقوى الملازم التي صممتها
ملزمة تشريح الجهاز الهيكلي (نظري 3)
💀💀💀💀💀💀💀💀💀💀
تتميز هذهِ الملزمة بعِدة مُميزات :
1- مُترجمة ترجمة تُناسب جميع المستويات
2- تحتوي على 78 رسم توضيحي لكل كلمة موجودة بالملزمة (لكل كلمة !!!!)
#فهم_ماكو_درخ
3- دقة الكتابة والصور عالية جداً جداً جداً
4- هُنالك بعض المعلومات تم توضيحها بشكل تفصيلي جداً (تُعتبر لدى الطالب أو الطالبة بإنها معلومات مُبهمة ومع ذلك تم توضيح هذهِ المعلومات المُبهمة بشكل تفصيلي جداً
5- الملزمة تشرح نفسها ب نفسها بس تكلك تعال اقراني
6- تحتوي الملزمة في اول سلايد على خارطة تتضمن جميع تفرُعات معلومات الجهاز الهيكلي المذكورة في هذهِ الملزمة
واخيراً هذهِ الملزمة حلالٌ عليكم وإتمنى منكم إن تدعولي بالخير والصحة والعافية فقط
كل التوفيق زملائي وزميلاتي ، زميلكم محمد الذهبي 💊💊
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A Visual Guide to 1 Samuel | A Tale of Two HeartsSteve Thomason
These slides walk through the story of 1 Samuel. Samuel is the last judge of Israel. The people reject God and want a king. Saul is anointed as the first king, but he is not a good king. David, the shepherd boy is anointed and Saul is envious of him. David shows honor while Saul continues to self destruct.
Philippine Edukasyong Pantahanan at Pangkabuhayan (EPP) CurriculumMJDuyan
(𝐓𝐋𝐄 𝟏𝟎𝟎) (𝐋𝐞𝐬𝐬𝐨𝐧 𝟏)-𝐏𝐫𝐞𝐥𝐢𝐦𝐬
𝐃𝐢𝐬𝐜𝐮𝐬𝐬 𝐭𝐡𝐞 𝐄𝐏𝐏 𝐂𝐮𝐫𝐫𝐢𝐜𝐮𝐥𝐮𝐦 𝐢𝐧 𝐭𝐡𝐞 𝐏𝐡𝐢𝐥𝐢𝐩𝐩𝐢𝐧𝐞𝐬:
- Understand the goals and objectives of the Edukasyong Pantahanan at Pangkabuhayan (EPP) curriculum, recognizing its importance in fostering practical life skills and values among students. Students will also be able to identify the key components and subjects covered, such as agriculture, home economics, industrial arts, and information and communication technology.
𝐄𝐱𝐩𝐥𝐚𝐢𝐧 𝐭𝐡𝐞 𝐍𝐚𝐭𝐮𝐫𝐞 𝐚𝐧𝐝 𝐒𝐜𝐨𝐩𝐞 𝐨𝐟 𝐚𝐧 𝐄𝐧𝐭𝐫𝐞𝐩𝐫𝐞𝐧𝐞𝐮𝐫:
-Define entrepreneurship, distinguishing it from general business activities by emphasizing its focus on innovation, risk-taking, and value creation. Students will describe the characteristics and traits of successful entrepreneurs, including their roles and responsibilities, and discuss the broader economic and social impacts of entrepreneurial activities on both local and global scales.
How to Setup Default Value for a Field in Odoo 17Celine George
In Odoo, we can set a default value for a field during the creation of a record for a model. We have many methods in odoo for setting a default value to the field.
Temple of Asclepius in Thrace. Excavation resultsKrassimira Luka
The temple and the sanctuary around were dedicated to Asklepios Zmidrenus. This name has been known since 1875 when an inscription dedicated to him was discovered in Rome. The inscription is dated in 227 AD and was left by soldiers originating from the city of Philippopolis (modern Plovdiv).
Elevate Your Nonprofit's Online Presence_ A Guide to Effective SEO Strategies...TechSoup
Whether you're new to SEO or looking to refine your existing strategies, this webinar will provide you with actionable insights and practical tips to elevate your nonprofit's online presence.
Elevate Your Nonprofit's Online Presence_ A Guide to Effective SEO Strategies...
Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control
1. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 360
Control of IC Engine: Design a Novel MIMO Fuzzy
Backstepping Adaptive Based Fuzzy Estimator Variable
Structure Control
Farzin Piltan SSP.ROBOTIC@yahoo.com
Department of Electrical and Electronic
Engineering, Faculty of
Engineering,Universiti Putra Malaysia
43400 Serdang, Selangor, Malaysia
N. Sulaiman nasri@eng.upm.edu.my
Department of Electrical and Electronic
Engineering, Faculty of
Engineering,Universiti Putra Malaysia
43400 Serdang, Selangor, Malaysia
Iraj Asadi Talooki SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co),NO:16 ,
PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Payman Ferdosali SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co),NO:16 ,
PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Abstract
This paper expands a Multi Input Multi Output (MIMO) fuzzy estimator variable structure control
(VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. The main goal
is to guarantee acceptable trajectories tracking between the internal combustion engine (IC
engine) air to fuel ratio and the desired input. The fuzzy controller in proposed fuzzy estimator
variable structure controller is based on Lyapunov fuzzy inference system (FIS) with minimum
model based rule base. The input represents the function between variable structure function,
error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping
methodology is on-line tune the variable structure function based on adaptive methodology. The
performance of the MIMO fuzzy estimator VSC which controller coefficient is on-line tuned by
fuzzy backstepping algorithm (FBAFVSC) is validated through comparison with VSC and
proposed method. Simulation results signify good performance of fuel ratio in presence of
uncertainty and external disturbance.
Keywords: Internal Combustion Engine, Variable Structure Controller, Fuzzy Backstepping
Controller, Chattering Phenomenon, Adaptive Methodology, Proposed Fuzzy Estimator Variable
Structure Controller, Lyapunov Based Controller.
1. MOTIVATION, INTRODUCTION AND BACKGROUND
Motivation: Internal combustion (IC) engines are optimized to meet exhaust emission
requirements with the best fuel economy. Closed loop combustion control is a key technology that
is used to optimize the engine combustion process to achieve this goal. In order to conduct
2. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 361
research in the area of closed loop combustion control, a control oriented cycle-to-cycle engine
model, containing engine combustion information for each individual engine cycle as a function of
engine crank angle, is a necessity. Air-to-fuel (A/F) ratio is the mass ratio of air to fuel trapped
inside a cylinder before combustion begins, and it affects engine emissions, fuel economy, and
other performances. In this research, a fuzzy backstepping adaptive MIMO fuzzy estimator
variable structure control scheme is used to simultaneously control the mass flow rate of port fuel
injection (PFI) systems to regulate the A/F ratio of PFI to desired levels. One of the most
important challenges in the field of IC engine is IC engine control, because this system is MIMO,
nonlinear, time variant parameter and uncertainty [63-71]. Presently, IC engines are used in
different (unknown and/or unstructured) situation consequently caused to provide complicated
systems, as a result strong mathematical theory are used in new control methodologies to design
nonlinear robust controller. Classical and non-classical methods are two main categories of
nonlinear plant control, where the conventional (classical) control theory uses the classical
method and the non-classical control theory (e.g., fuzzy logic, neural network, and neuro fuzzy)
uses the artificial intelligence methods. However both of conventional and artificial intelligence
theories have applied effectively in many areas, but these methods also have some limitations [1-
2].
Introduction: Modeling of an entire IC engine is a very important and complicated process
because engines are nonlinear, multi inputs-multi outputs and time variant. One purpose of
accurate modeling is to save development costs of real engines and minimizing the risks of
damaging an engine when validating controller designs. Nevertheless, developing a small model,
for specific controller design purposes, can be done and then validated on a larger, more
complicated model. [63-71]. Dynamic modeling of IC engines is used to describe the behavior of
this system, design of model based controller, and for simulation. The dynamic modeling
describes the relationship between nonlinear output formulation to electrical or mechanical source
and also it can be used to describe the particular dynamic effects to behavior of system[1]. In an
internal combustion engine, a piston moves up and down in a cylinder and power is transferred
through a connecting rod to a crank shaft. The continual motion of the piston and rotation of the
crank shaft as air and fuel enter and exit the cylinder through the intake and exhaust valves is
known as an engine cycle. The first and most significant engine among all internal combustion
engines is the Otto engine, which was developed by Nicolaus A. Otto in 1876 (Figure 1). In his
engine, Otto created a unique engine cycle that consisted of four piston strokes. These strokes
are: intake stroke, compression stroke, expansion stroke and exhaust stroke [63-71].
3. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 362
FIGURE 1: The Four Stroke Engine Cycle [1]
Controller (control system) is a device which can sense information from linear or nonlinear
system (e.g., IC engine) to improve the systems performance [3-20]. There are two control
systems: open-loop and close-loop (feedback), by using the open-loop system the control action
is independent of the output and in close-loop system the control action depends on the output. In
feedback control system considering that there are many disturbances and also variable dynamic
parameters something that is really necessary is keeping plant variables close to the desired
value. Feedback control system development is the most important thing in many different fields
of engineering. The feedback controllers also have classified into two general groups’; positive
feedback and negative feedback, which in positive the feedback signal can amplify the effect of
the input signal and in negative the feedback signal can reduce the effect of the input signal.
Figure 2 shows a basic block diagram of a simple negative feedback system with single-input,
single-output (SISO). The main targets in designing control systems are stability, good
disturbance rejection, and small tracking error[5-29]. It is a well known fact, the aim of science
and modern technology has making an easier life. Conversely, modern life includes complicated
technical systems which these systems are nonlinear, time variant and uncertain in
measurement, they need to have controlled. Consequently it is hard to design accurate models
for these physical systems because they are uncertain. From the control point of view uncertainty
is divided into two main groups: uncertainty unstructured inputs (e.g., noise, disturbance) and
uncertainty structure dynamics (e.g., parameter variations). At present, in some applications IC
engines are used in unknown and unstructured environment, therefore strong mathematical tools
used in new control methodologies to design nonlinear robust controller with an acceptable
performance (e.g., minimum error, good trajectory, disturbance rejection). One of the best
nonlinear robust controllers is variable structure control which is used in nonlinear uncertain
systems.
4. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 363
FIGURE 2: Block diagram of a feedback control[3]
One of the nonlinear robust controllers is variable structure controller, although this controller has
been analyzed by many researchers but the first proposed was in the 1950 [41-62].This controller
is used in wide range areas such as in robotics, in control process, in aerospace applications and
in IC engines because this methodology can solve some main challenging topics in control such
as resistivity to the external disturbance and stability. Even though, this controller is used in wide
range areas but, pure variable structure controller has two drawbacks: Firstly, output oscillation
(chattering); which caused the heating in the mechanical parameters. Secondly, nonlinear
dynamic formulation of nonlinear systems which applied in nonlinear dynamic nonlinear
controller; calculate this control formulation is absolutely difficult because it depends on the
dynamic nonlinear system’s equation [20-23]. Chattering phenomenon can causes some
problems such as saturation and heats the mechanical parts of IC engine or drivers. To reduce or
eliminate the oscillation, various papers have been reported by many researchers which one of
the best method is; boundary layer saturation method [1]. In boundary layer linear saturation
method, the basic idea is the discontinuous method replacement by linear continuous saturation
method with small neighborhood of the switching surface. This replacement caused to
considerable chattering reduction. Estimated uncertainty method used in term of uncertainty
estimator to compensation of the system uncertainties. It has been used to reduce the chattering
phenomenon and also solve nonlinear dynamic formulation. This research introduced novel
applied MIMO fuzzy inference engine to variable structure controller to estimate the nonlinear
control formulation with low computation load. In recent years, artificial intelligence theory has
been used in variable structure control systems. Neural network, fuzzy logic, and neuro-fuzzy are
synergically combined with nonlinear classical controller and used in nonlinear, time variant, and
uncertainty plant (e.g., IC engines). Fuzzy logic controller (FLC) is one of the most important
applications of fuzzy logic theory [30-41]. This controller can be used to control nonlinear,
uncertain, and noisy systems. This method is free of some model-based techniques as in
classical controllers. As mentioned that fuzzy logic application is not only limited to the modelling
of nonlinear systems [31-36]but also this method can help engineers to design easier controller.
Control IC engines using classical controllers are based on IC engines dynamic modelling. These
controllers often have many problems for modelling. Conventional controllers require accurate
information of dynamic model of IC engines, but these models are MIMO, non-linear and
calculate accurate dynamic modelling is definitely difficult. When the system model is unknown or
when it is known but complicated, it is difficult or impossible to use classical mathematics to
process this model[32]. The main reasons to use fuzzy logic technology are able to give
approximate recommended solution for unclear and complicated systems to easy understanding
and flexible. Fuzzy logic provides a method which is able to model a controller for nonlinear plant
with a set of IF-THEN rules, or it can identify the control actions and describe them by using fuzzy
rules. It should be mentioned that application of fuzzy logic is not limited to a system that’s
difficult for modeling, but it can be used in clear systems that have complicated mathematics
models because most of the time it can be shortened in design but there is no high quality design
just sometimes we can find design with high quality. Besides using fuzzy logic in the main
controller of a control loop, it can be used to design adaptive control, tuning parameters, working
5. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 364
in a parallel with the classical and non classical control method [32]. Research on applied fuzzy
logic methodology in variable structure controller (FVSC) to reduce or eliminate the high
frequency oscillation (chattering) and to compensate the unknown system dynamics pure variable
structure controller considerably improves the nonlinear plant control process [42-43].
Investigation on applied variable structure methodology in fuzzy logic controller (VSFC) to reduce
the fuzzy rules and refine the stability of close loop system in fuzzy logic controller has grown
specially in recent years as the nonlinear plant control [23]; [48-50]. However the application of
FVSC and VSFC are growing but the main VSFC drawback compared to FVSC is calculation the
value of structure surface pri-defined very carefully. The advantages of VSFC compared to
fuzzy logic controller (FLC) is reduce the number of fuzzy rule base and increase the robustness
and stability. At last FVSC compare to the VSFC is more suitable for implementation action. In
various dynamic parameters systems that need to be training on-line adaptive control
methodology is used. Fuzzy adaptive method is used in systems which want to training
parameters by expert knowledge. Traditional adaptive method is used in systems which some
dynamic parameters are known. In this research in order to solve disturbance rejection and
uncertainty dynamic parameter, adaptive method is applied to artificial variable structure
controller.
Background: Slotine and Sastry have introduced boundary layer method instead of
discontinuous method to reduce the chattering[21]. Slotine has presented variable structure
method with boundary layer to improve the industry application [22]. R. Palm has presented a
fuzzy method to nonlinear approximation instead of linear approximation inside the boundary
layer to improve the chattering and control the result performance[23]. Moreover, C. C. Weng and
W. S. Yu improved the previous method by using a new method in fuzzy nonlinear approximation
inside the boundary layer and adaptive method[24]. Wu et al. [30] have proposed a simple fuzzy
estimator controller beside the discontinuous and equivalent control terms to reduce the
chattering. Their design had three main parts i.e. equivalent, discontinuous and fuzzy estimator
tuning part which has reduced the chattering very well. Elmali et al. [27]and Li and Xu [29]have
addressed variable structure control with perturbation estimation method (VSCPE) to reduce the
classical variable structure chattering. Wai et al. [37-38]have proposed a fuzzy neural network
(FNN) optimal control system to learn a nonlinear function in the optimal control law. This
controller is divided into three main groups: arterial intelligence controller (fuzzy neural network)
which it is used to compensate the system’s nonlinearity and improves by adaptive method,
robust controller to reduce the error and optimal controller which is the main part of this controller.
Mohan and Bhanot [40] have addressed comparative study between some adaptive fuzzy, and a
new hybrid fuzzy control algorithm for manipulator control. They found that self-organizing fuzzy
logic controller and proposed hybrid integrator fuzzy give the best performance as well as simple
structure. H.Temeltas [46] has proposed fuzzy adaption techniques for VSC to achieve robust
tracking of nonlinear systems and solves the chattering problem. Conversely system’s
performance is better than variable structure controller; it is depended on nonlinear dynamic
equqation. C. L. Hwang et al. [47]have proposed a Tagaki-Sugeno (TS) fuzzy model based
variable structure control based on N fuzzy based linear state-space to estimate the uncertainties.
A MIMO FVSC reduces the chattering phenomenon and reconstructs the approximate the
unknown system has been presented for a nonlinear system [42]. Yoo and Ham [58]have
proposed a MIMO fuzzy system to help the compensation and estimation the torque coupling.
This method can only tune the consequence part of the fuzzy rules. Medhafer et al. [59] have
proposed an indirect adaptive fuzzy variable structure controller to control nonlinear system. This
MIMO algorithm, applies to estimate the nonlinear dynamic parameters. Compared with the
previous algorithm the numbers of fuzzy rules have reduced by introducing the variable structure
surface as inputs of fuzzy systems. Y. Guo and P. Y. Woo [60]have proposed a SISO fuzzy
system compensate and reduce the chattering. C. M. Lin and C. F. Hsu [61] can tune both
systems by fuzzy rules. Shahnazi et al., have proposed a SISO PI direct adaptive fuzzy variable
structure controller based on Lin and Hsu algorithm to reduce or eliminate chattering. The bounds
of PI controller and the parameters are online adjusted by low adaption computation [44].
In this research we will highlight the MIMO adaptive backstepping fuzzy variable structure
algorithm with estimates the nonlinear dynamic part derived in the Lyapunov sense. This
6. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 365
algorithm will be analyzed and evaluated on IC engine. Section 2, serves as an introduction to the
variable structure formulation algorithm and its application to an IC engine, describe the
objectives and problem statements. Part 3, introduces and describes the methodology algorithms
and proves Lyapunov stability. Section 4 presents the simulation results of this algorithm applied
to an IC engine and the final section is describe the conclusion.
2. OBJECTIVES, PROBLEM STATEMENTS AND VARIABLE STRUCTURE
FORMULATION APPLIED TO IC ENGINE
Dynamic of IC engine: In developing a valid engine model, the concept of the combustion
process, abnormal combustion, and cylinder pressure must be understood. The combustion
process is relatively simple and it begins with fuel and air being mixed together in the intake
manifold and cylinder. This air-fuel mixture is trapped inside cylinder after the intake valve(s) is
closed and then gets compressed [13]. When the air-fuel mixture is compressed it causes the
pressure and temperature to increase inside the cylinder. Unlike normal combustion, the cylinder
pressure and temperature can rise so rapidly that it can spontaneously ignite the air-fuel mixture
causing high frequency cylinder pressure oscillations. These oscillations cause the metal
cylinders to produce sharp noises called knock, which it caused to abnormal combustion. The
pressure in the cylinder is a very important physical parameter that can be analyzed from the
combustion process. Since cylinder pressure is very important to the combustion event and the
engine cycle in spark ignition engines, the development of a model that produces the cylinder
pressure for each crank angle degree is necessary. A cylinder pressure model that calculates the
total cylinder pressure over 720 crank angle degrees was created based upon the following
formulation [63-71]:
(1)
where is pressure in cylinder, is Wiebe function, and is motoring pressure
of a cylinder. Air fuel ratio is the mass ratio of air and fuel trapped inside the cylinder before
combustion starts. Mathematically it is the mass of the air divided by the mass of the fuel as
shown in the equation below:
(2)
If the ratio is too high or too low, it can be adjusted by adding or reducing the amount of fuel per
engine cycle that is injected into the cylinder. The fuel ratio can be used to determine which fuel
system should have a larger impact on how much fuel is injected into the cylinder. Since a direct
fuel injector has immediate injection of its fuel with significant charge cooling effect, it can have a
quicker response to the desired amount of fuel that is needed by an engine [66].
Variable structure methodology: Based on variable structure discussion, the control law for a
multi degrees of freedom robot manipulator is written as [18-24]:
(3)
Where, the model-based component is compensated the nominal dynamics of
systems. Therefore can calculate as follows:
(4)
Where
A simple solution to get the variable structure condition when the dynamic parameters have
uncertainty is the switching control law:
7. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 366
(5)
where the switching function is defined as
(6)
and the is the positive constant.
the lyapunov formulation can be written as follows,
(7)
the derivation of can be determined as,
(8)
the dynamic equation of IC engine can be written based on the structure variable surface as
(9)
it is assumed that
(10)
by substituting (15) in (14)
(11)
suppose the control input is written as follows
(12)
by replacing the equation (18) in (17)
(13)
it is obvious that
(14)
the Lemma equation in IC engine system can be written as follows
(15)
the equation (16) can be written as
(16)
therefore, it can be shown that
(17)
Consequently the equation (17) guaranties the stability of the Lyapunov equation. Figure 3 is
shown the integration of mean value engine and cylinder pressure model.
8. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 367
FIGURE 3: Block diagram of an integration of mean value engine and cylinder pressure model
Figure 4 is shown pure variable structure controller, applied to IC engine.
Problem Statements
Even though, variable structure controller is used in wide range areas but, pure it also has
chattering problem and nonlinear dynamic part challenges. On the other hand, fuzzy logic
controller has been used for nonlinear and uncertain (e.g., IC engine) systems controlling.
Conversely pure FLC works in many areas, it cannot guarantee the basic requirement of stability
and acceptable performance[8]. Although both VSC and FLC have been applied successfully in
many applications but they also have some limitations. The boundary layer method is used to
reduce or eliminate the chattering and proposed fuzzy Lyapunov estimator method focuses on
substitution fuzzy logic system instead of dynamic nonlinear equation to implement easily and
avoid mathematical model base controller. To reduce the effect of uncertainty in proposed
method, MIMO novel adaptive method is applied in fuzzy variable structure controller in IC
engine.
Objectives
The main goal is to design a MIMO fuzzy backstepping adaptive fuzzy estimation variable
structure methodology which applied to internal combustion engine with easy to design and
implement. IC engine has nonlinear dynamic and uncertain parameters consequently; following
objectives have been pursuit in the mentioned research: To develop a chattering in a position
pure variable structure controller against uncertainties, to design and implement a Lyapunov
MIMO fuzzy structure variable controller in order to solve the equivalent problems with minimum
9. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 368
rule base and finally to develop a position fuzzy backstepping adaptive fuzzy estimation variable
structure controller in order to solve the disturbance rejection and reduce the computation load.
FIGURE 4: Block diagram of a variable structure controller: applied to IC engine
3. METHODOLOGY: DESIGN A NOVEL MIMO FUZZY BACKSTEPPING
ADAPTIVE FUZZY ESTIMATION VARIABLE STRUCTURE CONTROL
First part is focused on eliminate the oscillation (chattering) in pure variable structure controller
based on linear boundary layer method. To reduce or eliminate the chattering it is used the
boundary layer method; in boundary layer method the basic idea is replace the discontinuous
method by saturation (linear) method with small neighborhood of the switching surface. This
replace is caused to increase the error performance [20-24].
(18)
Where is the boundary layer thickness. Therefore, to have a smote control law, the saturation
function added to the control law:
(19)
Where can be defined as
(20)
Based on above discussion, the control law for an IC engine is written as [18-24]:
(21)
Figure 5 is shown classical variable structure which eliminates the chattering using linear
boundary layer method.
10. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 369
FIGURE 5: Chattering free Block diagram of a variable structure controller: applied to IC engine
Second step is focused on design MIMO fuzzy estimation variable structure based on Lyapunov
formulation. The firs type of fuzzy systems is given by
(22)
Where
are adjustable parameters in (28) . are given membership functions
whose parameters will not change over time.
The second type of fuzzy systems is given by
(23)
Where are all adjustable parameters. From the universal approximation theorem, we
know that we can find a fuzzy system to estimate any continuous function. For the first type of
fuzzy systems, we can only adjust in
(28). We define as the approximator of the real function .
(24)
We define as the values for the minimum error:
(25)
Where is a constraint set for . For specific is the minimum
approximation error we can get.
We used the first type of fuzzy systems (23) to estimate the nonlinear system (10) the fuzzy
formulation can be write as below;
11. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 370
(26)
Where are adjusted by an adaptation law. The adaptation law is designed to minimize
the parameter errors of . A MIMO (multi-input multi-output) fuzzy system is designed to
compensate the uncertainties of the nonlinear system. The parameters of the fuzzy system are
adjusted by adaptation laws. The tracking error and the sliding surface state are defined as:
(27)
(28)
We define the reference state as
(29)
(30)
The general MIMO if-then rules are given by
(31)
Where are fuzzy if-then rules; and are the input and
output vectors of the fuzzy system. The MIMO fuzzy system is define as
(32)
Where
(33)
and is defined in (24).
To reduce the number of fuzzy rules, we divide the fuzzy system in to three parts:
(34)
(35)
(36)
The control input is given by
(37
)
Where , are the estimations of and and are positive constants;
and are positive constants. The adaptation law is given by
(38)
12. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 371
Where and are positive diagonal matrices.
The Lyapunov function candidate is presented as
(39)
Where and we define
(40)
From (22) and (23), we get
(41
)
Since and , we get
(42)
Then can be written as
(43)
Where The
derivative of is
(44)
We know that from (44). Then
(45
)
We define the minimum approximation error as
(46)
We plug (51) in to (52)
13. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 372
Then becomes
]
(47)
Since can be as small as possible, we can find that
Therefore, we can get for and Figure 6 is shown the fuzzy
estimator variable structure.
FIGURE 6: Chattering free Block diagram of a fuzzy estimator variable structure controller
Third step is focused on design Mamdani’s fuzzy [30-40] backstepping adaptive fuzzy estimator
variable structure. As mentioned above pure variable structure controller has nonlinear dynamic
equivalent limitations in presence of uncertainty and external disturbances in order to solve these
challenges this work applied Mamdani’s fuzzy inference engine estimator in variable structure
controller. However proposed MIMO fuzzy estimator variable structure has satisfactory
performance but calculate the variable structure surface slope by try and error or experience
knowledge is very difficult, particularly when system has structure or unstructured uncertainties;
MIMO Mamdani’s fuzzy backstepping variable structure function fuzzy estimator variable
structure controller is recommended. The backstepping method is based on mathematical
formulation which this method is introduced new variables into it in form depending on the
dynamic equation of IC engine. This method is used as feedback linearization in order to solve
nonlinearities in the system. To use of nonlinear fuzzy filter this method in this research makes it
possible to create dynamic nonlinear backstepping estimator into the adaptive fuzzy estimator
variable structure process to eliminate or reduce the challenge of uncertainty in this part. The
backstepping controller is calculated by;
(48)
Where is backstepping output function, is backstepping nonlinear equivalent function
which can be written as (55) and is backstepping control law which calculated by (49)
14. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 373
(49)
(50)
Based on (10) and (47) the fuzzy backstepping filter is considered as
(51)
Based on (48) the formulation of fuzzy backstepping filter can be written as;
(52)
Where
The adaption low is defined as
(53)
where the is the positive constant and
(54)
The dynamic equation of IC engine can be written based on the variable structure surface as;
(55)
It is supposed that
(56)
The derivation of Lyapunov function ( ) is written as
Where is adaption law and , consequently can be
considered by
(57)
The minimum error can be defined by
(58)
is intended as follows
15. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 374
(59)
For continuous function and suppose it is defined the fuzzy backstepping
controller in form of (58) such that
(60)
As a result MIMO fuzzy backstepping adaptive fuzzy estimation variable structure is very stable
which it is one of the most important challenges to design a controller with suitable response.
Figure 7 is shown the block diagram of proposed MIMO fuzzy backstepping adaptive fuzzy
estimation variable structure.
FIGURE 7: Chattering free Block diagram of a MIMO fuzzy backstepping adaptive fuzzy
estimator variable structure controller
4. RESULTS
Variable structure controller (VSC) and proposed MIMO fuzzy backstepping adaptive fuzzy
estimator variable structure controller were tested to sinus response trajectory. The simulation
was implemented in Matlab/Simulink environment. Fuel ratio trajectory, disturbance rejection and
error are compared in these controllers. It is noted that, these systems are tested by band limited
white noise with a predefined 40% of relative to the input signal amplitude. This type of noise is
used to external disturbance in continuous and hybrid systems.
Fuel Ratio Trajectory: Figure 8 shows the fuel ratio in VSC and proposed MIMO fuzzy
backstepping adaptive fuzzy estimator variable structure controller without disturbance for sinus
trajectory.
16. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 375
By comparing sinus response, Figure 8, in SMC and MIMO fuzzy backstepping adaptive fuzzy
estimator variable structure controller, conversely the MIMO fuzzy backstepping adaptive fuzzy
estimator variable structure controller 's overshoot (0%) is lower than VSC's (3%).
Disturbance Rejection
Figure 9 is indicated the power disturbance removal in VSC and MIMO fuzzy backstepping
adaptive fuzzy estimator variable structure controller. As mentioned before, VSC is one of the
most important robust nonlinear controllers. Besides a band limited white noise with predefined of
40% the power of input signal is applied to the sinus VSC and MIMO fuzzy backstepping adaptive
fuzzy estimator variable structure controller; it found slight oscillations in VSC trajectory
responses.
Among above graph, relating to sinus trajectory following with external disturbance, VSC has
slightly fluctuations. By comparing overshoot; MIMO fuzzy backstepping adaptive fuzzy estimator
variable structure controller 's overshoot (0%) is lower than VSC's (12%).
Errors in the Model: MIMO fuzzy backstepping adaptive fuzzy estimator variable structure
controller has lower error rate (refer to Table.1), VSC has oscillation tracking which causes
chattering phenomenon at the presence of disturbances. Figure 10 is shown steady state and
RMS error in VSC and MIMO fuzzy backstepping adaptive fuzzy estimator variable structure
controller in presence of external disturbance.
FIGURE 8: VSC Vs. MIMO fuzzy backstepping adaptive fuzzy estimator variable structure
controller: fuel ratio
FIGURE 9: VSC Vs. MIMO fuzzy backstepping adaptive fuzzy estimator variable structure
controller: fuel ratio with external disturbance
17. Farzin Piltan, N. Sulaiman, I. Asadi Talooki & P. Ferdosali
International Journal of Robotics and Automation (IJRA), Volume (2) : Issue (5) : 2011 376
TABLE 1: RMS Error Rate of Presented controllers
In these methods if integration absolute error (IAE) is defined by (67), table 2 is shown
comparison between these two methods.
(67)
Proposed MethodVSCMethod
214.8442.1IAE
TABLE 2: Calculate IAE
5. CONCLUSION
Refer to the research, a MIMO fuzzy backstepping adaptive fuzzy estimator variable structure
controller design and application to IC engine has proposed in order to design high performance
nonlinear controller in the presence of uncertainties, external disturbances and Lyapunov based.
Regarding to the positive points in variable structure controller, fuzzy inference system and
adaptive fuzzy backstepping methodology it is found that the adaptation laws derived in the
Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the
Lyapunov method. The first objective in proposed method is removed the chattering which linear
boundary layer method is used to solve this challenge. The second target in this work is
compensate the model uncertainty by MIMO fuzzy inference system, in the case of the IC engine,
if we define membership functions for each input variable, the number of fuzzy rules applied
for each joint is which will result in a low computational load. In finally part fuzzy backstepping
methodology with minimum rule base is used to online tuning and adjusted the fuzzy variable
structure method and eliminates the chattering with minimum computational load. In this case the
performance is improved by using the advantages of variable structure, artificial intelligence
compensate method and adaptive algorithm while the disadvantages removed by added each
method to previous method.
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