This paper presents a hybrid control which includes swing-up and balancing control for pendubot system-a two-link under-actuated robot. The parameters of the pendubot system are measured in the actual pendubot system built in the... more
This paper presents a hybrid control which includes swing-up and balancing control for pendubot system-a two-link under-actuated robot. The parameters of the pendubot system are measured in the actual pendubot system built in the automation lab, University of Technology and Education HCM City. A hybrid controller which drives the system close to the equilibrium manifold and maintains the system stabilization in the upright position will be developed. The proposed control consists of two stages: swing-up control using partial feedback linearization, and balancing control using linear quadratic regulator. Finally, the controller is verified through both simulation and experimental results. The stability of the pendubot system in simulation showed that the proposed hybrid controller works well. However, the control quality in the experimental model still has some limitations.
This paper presents a load frequency control in four area power systems using fuzzy gain scheduling of PI controller is realized. The system simulation is realized by using Matlab/Simulink software. System dynamic performance is observed... more
This paper presents a load frequency control in four area power systems using fuzzy gain scheduling of PI controller is realized. The system simulation is realized by using Matlab/Simulink software. System dynamic performance is observed for conventional PI, fuzzy PI and fuzzy logic controllers.
– Speed control of Brushless DC (BLDC) motor based on conventional control schemes are now most commonly used in industries. Despite the fact that PI controllers maintained the steady state accuracy, these controllers pose difficulties... more
– Speed control of Brushless DC (BLDC) motor based on conventional control schemes are now most commonly used in industries. Despite the fact that PI controllers maintained the steady state accuracy, these controllers pose difficulties such as load disturbances and parametric variations. FLC offers better speed response at dynamics and cancels disturbance impacts when load torque change.To improve control performance and integrate the benefit of these two controllers, a hybrid controller is included in this comparative study. The performance of the hybrid controller is obtained with two schemes Logical switching based-on error and Smart blending based-on system states. The dynamic characteristics of speed and torque of the drive system are effectively evaluated and compared for different operation modes. Results showed that Smart blending scheme is better in generally for most of the performances. The modeling and simulation of the speed controllers have been done in MATLAB/SIMULINK environment.
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical takeoff and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be... more
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical takeoff and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be described by using Euler-Newton equations. In order to stable this vehicle and control the attitude of that, classical PID controller and a fuzzy system that adjusts the PID controller gains, have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to aerial vehicle control is quite new. This system has nonlinear characteristics where classical control methods are not adequate for stabilize that. On the other hand, fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. Finally this presented controller will be implemented on a real vehicle and performance of that will be showed. This study showed that although, both of the classical PID and the fuzzy self-tuning PID controllers, can control the system properly, the second controller performed better than the classical PID controller.
This paper presents a novel hybrid control of a BLDC motor using a mixed sliding mode and fuzzy logic controller. The objective is to build a fast and robust controller which overcome classical controllers' inconveniences and exploit the... more
This paper presents a novel hybrid control of a BLDC motor using a mixed sliding mode and fuzzy logic controller. The objective is to build a fast and robust controller which overcome classical controllers' inconveniences and exploit the fast response of brushless dc motors characterized by an intense torque and fast response time. First the paper study pros and cons of both sliding mode and fuzzy logic controllers. Then the novel controller and its stability demonstration are presented. Finally the proposed controller method is used for the speed control of a BLDC motor 3KW. The obtained results are compared with those of a fuzzy logic and a conventional sliding mode controller. It allows to show performance of the proposed controller in terms of speed response and reaction against disturbances, which is improved more than 5 times without losing stability or altering tracking accuracy.
