Design of Optimal PID Controller Using NSGA-II Algorithm and Level Diagram

Moharam, Amal; Elhosseini, Mostafa A.; Ali, Hesham

doi:10.24846/v24i3y201507

Cited by 5 publications

(3 citation statements)

References 14 publications

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“…The systematic choice of the parameters of PID-GS-C will represent a direction of future research by ensuring the optimal tuning using classical [4], [22], [39], [2], [25], [14] and modern optimization algorithms [40], [41], [45], [26], [33], [30], [34], [21], [3] or their combinations. Future research will also be focused on the design of control systems with PI(D) fuzzy gain-scheduling controllers, Takagi-Sugeno fuzzy controllers and hybrid structures including sliding mode control and gain-scheduling control for improved performance indices.…”

Section: Discussionmentioning

confidence: 99%

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

Bojan-Dragoş

Precup

Tomescu

et al. 2017

INT J COMPUT COMMUN

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The paper presents a gain-scheduling control design procedure for classical Proportional-Integral-Derivative controllers (PID-GS-C) for positioning system. The method is applied to a Magnetic Levitation System with Two Electromagnets (MLS2EM) laboratory equipment, which allows several experimental verifications of the proposed solution. The nonlinear model of MLS2EM is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. PID control and PID-GS-C structures are next designed to ensure zero steady-state control error and bumpless switching between PID controllers for the linearized models. Real-time experimental results are presented for validation.

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Section: Discussionmentioning

confidence: 99%

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

Bojan-Dragoş

Precup

Tomescu

et al. 2017

INT J COMPUT COMMUN

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“…Various linear control approaches, such as Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) have been applied to robot motion control, however, they have problems with difficult gain tuning and adjustment when used with robotic manipulators. Finding the ideal PID controller values can be challenging, especially for systems with significant nonlinearities and couplings [4][5]. Using PID method for multiple Degrees of Freedom (DOF) manipulators makes the control work more challenging [6].…”

Section: Introductionmentioning

confidence: 99%

A Novel Hybrid Proportional Derivative/H-infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm

Bankole

Igbonoba

2022

Preprint

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In this work, a hybrid control strategy integrating proportional derivative and H-infinity control method is proposed for a serial two-link robotic manipulator. The aim of this research is to achieve an improved trajectory tracking performance of the robot arm. The H-infinity controller achieves high performance and robustness in the presence of disturbances and uncertainties, such as unwanted overreaction caused by the derivative control's quick response times, while the proportional derivative controller stabilizes the nonlinear manipulator system. Simulation results using matlab shows that, the proposed hybrid controller, which integrates the advantages of both proportional derivative and H-infinity controllers, has the lowest rise time for the second link, the lowest settling time for the two links, the lowest peak time for both links and the fastest decay of the error response. In addition, the hybrid control scheme also has the lowest mean square error value, with 53.3% improvement over H-infinity controller and 91.8% improvement over proportional derivative controller, indicating improved trajectory tracking performance when compared to pure proportional derivative and pure H-infinity controllers, respectively. It was also discovered that, the hybrid controller has the lowest Integral Absolute Error (IAE), Integral Square Error (ISE), Integral Time Absolute error (ITAE) and Integral Time Square (ITSE) for the second link, while the error values for the first link are fairly okay, showing the superior performance of the hybrid controller above PD and H-infinity controllers respectively.

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“…Some classical and nature-inspired evolutionary-based algorithms and various applications subjected to optimization problems are presented in [53][54][55][56][57][58][59][60][61][62][63][64], with focus on Charged System Search and Gravitational Search algorithms.…”

Section: Overview On Incremental Online Identification Algorithmsmentioning

confidence: 99%

Automotive Applications of Evolving Takagi-Sugeno-Kang Fuzzy Models

Precup¹,

Preitl²,

Bojan-Dragoş³

et al. 2017

FU Mech Eng

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Abstract. This paper presents theoretical and application results concerning the development of evolving Takagi-Sugeno-Kang fuzzy models for two dynamic systems, which will be viewed as controlled processes, in the field of automotive applications. The two dynamic systems models are nonlinear dynamics of the longitudinal slip in the Antilock Braking Systems (ABS) and the vehicle speed in vehicles with the Continuously

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Design of Optimal PID Controller Using NSGA-II Algorithm and Level Diagram

Cited by 5 publications

References 14 publications

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

A Novel Hybrid Proportional Derivative/H-infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm

Automotive Applications of Evolving Takagi-Sugeno-Kang Fuzzy Models

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