Control of Multivariable Systems Using Modified Local Optimal Controller

Mohamed, Amr; AbouZayed, Usama; Breikin, Tim

doi:10.3182/20080706-5-kr-1001.01482

Cited by 10 publications

(4 citation statements)

References 4 publications

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“…The reduced order LOC is also designed and implemented as proposed by Lyantsev et al (2004), but the model used is the reduced order model represented in (2). As such the following equation is obtained.…”

Section: The Reduced Order Loc Designmentioning

confidence: 99%

“…From (4), the reduced order LOC of the pump system is designed as described by Ashry et al (2008b). The detailed block diagram of the system controlled by the first order LOC is illustrated in Figure 10.…”

Section: The Reduced Order Loc Designmentioning

confidence: 99%

“…, a a b b are the model parameters in (1), -h is the LOC tunable parameter, -( ) r i is the reference input for the closed loop system.From(3), the full order LOC for the pump system which is a non-minimum phase system is designed as in the block diagram shown inFigure 7(Ashry et al, 2008b). …”

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confidence: 99%

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Reduced-Order Local Optimal Controller for a Higher Order System

Mohamed

Kamalova

Breikin

2009

International Conference on Aerospace Sciences and Aviation Tec

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In this paper, a reduced order local optimal controller is designed for a higher order system. A reduced order model is obtained for the higher order system and its parameters are used for the reduced order local optimal controller. Also, genetic algorithm is used with the reduced order local optimal controller structure to design the controller parameters instead of obtaining them from the reduced order model. These results obtained are compared with the results obtained from full order local optimal controller. Finally, analogy between reduced order local optimal controller and PI controller parameters is represented. As such, this reduced order local optimal controller can be used for tuning PI controller parameters. Experimental results on a lab-based test rig confirm the effectiveness of the reduced order local optimal controller.

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Section: The Reduced Order Loc Designmentioning

confidence: 99%

Section: The Reduced Order Loc Designmentioning

confidence: 99%

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Reduced-Order Local Optimal Controller for a Higher Order System

Mohamed

Kamalova

Breikin

2009

International Conference on Aerospace Sciences and Aviation Tec

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“…Swarming or grouping behaviors can be openly seen in droves of birds, colonies of ants, schools of fish, and flocks of animals (Okubo, 1986;Parrish et al, 2002). Swarming becomes a field of interest for the researchers in the field of cooperative UAVs (Ashry et al, 2008). Swarming algorithms are varied between classical algorithms and intelligence algorithms (Yang, Wang et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Mahfouz,

Hafez,

Ashry

et al. 2023

JART

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This paper offers a novel hybrid control approach for solving the formation problem for a group of cooperative quadrotors unmanned aerial vehicles (UAVs). Two-loop controller layout techniques are presented: one is a backstepping based PID controller as a higher-controller in external-loop to manage the proportional position orders and create body-axis rate orders for the internal loop. Second, it is an Adaptive Neuro Fuzzy Inference System (ANFIS) Controller acts as a lower-controller in the internal-loop to generate desired angular rotations for every quadrotor, separately. The introduced hybrid controller is applied to overcome the formation aviation downside that keeps track of the leader-follower approach. The contribution in this paper lays in developing a solution for the formation problem for a group of cooperative UAVs through a double layer hybrid Backstepping-ANFIS controller. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink in order to perform various simulations to validate the hybrid proposed controller. Simulation results for a team of cooperative UAVs show the success of the proposed approach in solving the formation configuration problem for the UAV team members in free and loaded obstacles environment.

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PID tuning approaches for quadrotors unmanned aerial vehicles

Mahfouz

Taiomour

Ashry

et al. 2021

IOP Conf. Ser.: Mater. Sci. Eng.

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In this paper, a comparative study between different PID tunning techniques is presented. The proposed techniques are applied to solve the formation configuration problem for a cooperative team of unmanned vehicles. The formation problem for the cooperative team is divided into two levels of control, one is the backstepping control technique for the stabilization of the team members positions as a higher controller. Simultaneously, PID controller receives the desired position to stabilize the attitude control as a lower controller to track the desired planning trajectories. The main contribution of this paper is the comparison between the different control approaches in tunning the PID gains to stabilize attitude control for the leader quadrotor. Simulation results present the assessment of the proposed PID control technique compared with different PID tuning approaches such as local optimal control, fraction order, Ziegler-Nichols and genetic algorithm. Moreover, disturbance rejection and white noise attenuation criterions are inspected to evaluate the ability of the proposed controllers to preserve the stability of the system.

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Control of Multivariable Systems Using Modified Local Optimal Controller

Cited by 10 publications

References 4 publications

Reduced-Order Local Optimal Controller for a Higher Order System

Reduced-Order Local Optimal Controller for a Higher Order System

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

PID tuning approaches for quadrotors unmanned aerial vehicles

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