Design of Terminal Sliding Position Control for Electronic Throttle Valve System: a Performance Comparative Study

Hameed, Aisha; Al-Dujaili, Ayad Q.; Humaidi, Amjad J.; Hussein, Hanan A.

doi:10.15866/ireaco.v12i5.16556

Cited by 22 publications

(12 citation statements)

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“…Moreover, a collision avoidance algorithm is worth investigation to have safe tracking. This study can be extended for future work by introducing other control strategies such as Augmented nonlinear PD controller, sliding mode control, Model reference adaptive control, robust adaptive control [32][33][34][35][36][37][38][39].…”

Section: Discussionmentioning

confidence: 99%

PSO-based optimized neural network PID control approach for a four wheeled omnidirectional mobile robot

Al-Jodah

Abbas

Hasan

et al. 2023

IRASE

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The demand for automation using mobile robots has been increased dramatically in the last decade. Nowadays, mobile robots are used for various applications that are not attainable to humans. Omnidirectional mobile robots are one particular type of these mobile robots, which has been the center of attention for their maneuverability and ability to track complex trajectories with ease, unlike their differential type counterparts. However, one of the disadvantages of these robots is their complex dynamical model, which poses several challenges to their control approach. In this work, the modeling of a four-wheeled omnidirectional mobile robot is developed. Moreover, an intelligent Proportional Integral Derivative (PID) neural network control methodology is developed for trajectory tracking tasks, and Particle Swarm Optimization (PSO) algorithm is utilized to find optimized controller's weights. The simulation study is conducted using Simulink and Matlab package, and the results confirmed the accuracy of the proposed intelligent control method to perform trajectory tracking tasks.

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Section: Discussionmentioning

confidence: 99%

PSO-based optimized neural network PID control approach for a four wheeled omnidirectional mobile robot

Al-Jodah

Abbas

Hasan

et al. 2023

IRASE

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“…Another extension of this study could be to implement the proposed controller in a real-time environment, either using LabVIEW programming software or using other embedded hardware designs such as FPGA or Raspberry Pi [46]. Other control techniques could be suggested to conduct a comparison study for this medical application [47][48][49][50].…”

Section: Discussionmentioning

confidence: 99%

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

et al. 2022

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In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic controller. In this study, particle swarm optimization (PSO) algorithm is introduced to tune the design parameters of adaptive and non-adaptive synergetic controllers, in order to optimize their tracking performances by minimizing an error-cost function. Numerical simulations are conducted to show the effectiveness of the proposed synergetic controllers for tracking control of the exoskeleton knee system. The results show that compared to classical synergetic controllers, the adaptive synergetic controller can guarantee the boundedness of the estimated parameters and hence avoid drifting, which in turn ensures the stability of the controlled system in the presence of parameter uncertainties.

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“…ESOs have been widely employed in many sophisticated uncertain systems, such as spacecraft structure systems (Yang et al, 2014), permanent magnet synchronous motor (PMSM) servo systems (Liu & Li, 2012), hypersonic vehicles, and multi-agent systems (Yang et al, 2015). Because of their good estimating properties and capacity to adjust, other structures of observers exist in addition to ESOs, such as the unknown input observer (UIO), disturbance observer (DOB), and perturbation observer (POB), adaptive observer, and sliding mode observer (Hameed et al, 2019, Hassan et al, 2020, Falah et al, 2020, Djamel & Mefoud, 2019.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Alawad

Humaidi

Al-Obaidi

et al. 2022

Indonesian J. Sci. Technol

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Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.

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Design of Terminal Sliding Position Control for Electronic Throttle Valve System: a Performance Comparative Study

Cited by 22 publications

References 0 publications

PSO-based optimized neural network PID control approach for a four wheeled omnidirectional mobile robot

PSO-based optimized neural network PID control approach for a four wheeled omnidirectional mobile robot

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

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