Online adaptive PID tracking control of an aero-pendulum using PSO-scaled fuzzy gain adjustment mechanism

Saleem, Omer; Rizwan, Mohsin; Zeb, Agha Ali; Ali, Abdul Hannan; Saleem, Muhammad

doi:10.1007/s00500-019-04568-1

Cited by 16 publications

(13 citation statements)

References 32 publications

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“…Extensive research has been done to synthesize robust adaptive controllers for under-actuated mechatronic systems [ 35 , 36 ]. The Model-Reference-Adaptive-Controllers utilizes the Lyapunov theory to track a reference control model which leads to the online dynamic adjustment of the critical controller parameters [ 37 , 38 ].…”

Section: Introductionmentioning

confidence: 99%

An experimental comparison of different hierarchical self-tuning regulatory control procedures for under-actuated mechatronic systems

2021

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This paper presents an experimental comparison of four different hierarchical self-tuning regulatory control procedures in enhancing the robustness of the under-actuated systems against bounded exogenous disturbances. The proposed hierarchical control procedure augments the ubiquitous Linear-Quadratic-Regulator (LQR) with an online reconfiguration block that acts as a superior regulator to dynamically adjust the critical weighting-factors of LQR’s quadratic-performance-index (QPI). The Algebraic-Riccati-Equation (ARE) uses these updated weighting-factors to re-compute the optimal control problem, after every sampling interval, to deliver time-varying state-feedback gains. This article experimentally compares four state-of-the-art rule-based online adaptation mechanisms that dynamically restructure the constituent blocks of the ARE. The proposed hierarchical control procedures are synthesized by self-adjusting the (i) controller’s degree-of-stability, (ii) the control-weighting-factor of QPI, (iii) the state-weighting-factors of QPI as a function of “state-error-phases”, and (iv) the state-weighting-factors of QPI as a function of “state-error-magnitudes”. Each adaptation mechanism is formulated via pre-calibrated hyperbolic scaling functions that are driven by state-error-variations. The implications of each mechanism on the controller’s behaviour are analyzed in real-time by conducting credible hardware-in-the-loop experiments on the QNET Rotary-Pendulum setup. The rotary pendulum is chosen as the benchmark platform owing to its under-actuated configuration and kinematic instability. The experimental outcomes indicate that the latter self-adaptive controller demonstrates superior adaptability and disturbances-rejection capability throughout the operating regime.

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Section: Introductionmentioning

confidence: 99%

An experimental comparison of different hierarchical self-tuning regulatory control procedures for under-actuated mechatronic systems

2021

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“…Several approaches and configurations of inverted pendulums are studied in the literature, such as the Furuta pendulum (Furuta et al [2]; Antonio-Cruz et al [3]; Zabihifar et al [4]), the cart pendulum (Blondin and Pardalos [5]; Roose, Yahya and Al-Rizzo [6]), the robot pendulum (Grasser et al [7]; Ye et al [8]; Johnson et al [9]), the single propeller pendulum (Job and Jose [10]; Habib et al [11]), among others. The aeropendulum system with two propellers has been also analyzed, which presents a dynamic behavior similar to the traditional helicopters and can be used as a didact tool for engineering studies (Saleem et al [12]).…”

Section: Introductionmentioning

confidence: 99%

“…From a constructive perspective, the aeropendulum considered in this paper is a system composed of a pendulum rod with two sets of motors with propellers at its free extremity, while the other rod extremity is coupled to a rotational axis, which has an encoder to measure the angular position of the rod. In the literature, Saleem et al [12] use an adaptive Proportional-Integrative-Derivative (PID) controller for a system similar to this, where a Particle Swarm Optimization (PSO) and Fuzzy inference system algorithms were used to tune…”

Section: Introductionmentioning

confidence: 99%

Loop-Shaping ℋ<sub>∞</sub> Control of an Aeropendulum Model

Breganon

Alves

Almeida

et al. 2021

International Journal of Applied Mechanics and Engineering

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This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping ℋ∞ control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the ℋ∞ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the ℋ∞ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.

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“…The first improvement is the use of an aero-pendulum extruder mounted on the crane cable, on the basis of studies carried out at the University of Arizona (Dep. of Aerospace and Mechanical Engineering) [349][350][351]308]. While the geometry to build is obtained by actuating the trolley and the jib, the controlled propellers of the aero-pendulum extruder counteract the swing effect induced by the movement during the extrusion and keep the extruder aligned with the crane trolley, and the cable perpendicular to the crane jib.…”

Section: Tower-crane Based 3d Printing Controlled By Aimentioning

confidence: 99%

“…It combines one of the most important machines used for constructing high-rise buildings and 3D printing through an "aero-pendulum extruder". The extruder is based on recent studies that showed the effectiveness of aero-pendulum control systems, consisting of a pendulum arm with a motorized propeller at its free end [308]. This ambitious research was carried out in three stages: firstly, the aero-pendulum extruder (hooked up to a crane cable) was proposed to correct the extruder toolpath during the printing process.…”

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confidence: 99%

Automation and Information Approaches to Support Maintenance and Production Management in the Construction Industry

Parisi¹

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The construction industry is a wide industrial sector ranging from the design and management of major infrastructures, such as bridges, to civil dwelling construction. It is worldwide acknowledged as a fundamental driving sector for the Gross Domestic Product, but it is also among the less performing and delayed ones in the adoption and exploitation of technological improvements. These limitations are inducing stakeholders to borrow and integrate many enhancements from other industrial fields into the sector. This digitalization trend is spreading through the entire life cycle of the construction process and identifying a challenging approach because of the paradigm shift needed from physical to cyber-physical systems. The Industry 4.0 concept boosted this trend so that both in the academy and in the construction industry it has been specified as Construction 4.0. It borrows from the Industry 4.0 the adoption of many key enabling technologies such as Internet of Things, Artificial Intelligence and Additive Manufacturing. This thesis investigates specifically this technological integration, focusing on the application of such enabling technologies in the construction field and considering different stages in the life cycle in varying infrastructure typologies. Starting from a literature investigation on "holistic" intelligent systems in Intelligent Buildings construction, in a Digital Twin fashion, the influence and the application of enabling technologies and related operative ICT tools such as Internet of Things and Big Data are studied, from a perspective of the whole constructions' life cycle. The maintenance phase of major infrastructures is studied concerning structural safety and fault detection, by developing a method to detect damages in railway steel truss bridges via artificial intelligence. An innovative additive manufacturing technology for high-rise constructions is then presented. It consists of an improvement with a custom extruder of standard tower crane technology, while the whole system is driven by an artificial intelligence agent.We conclude that Construction 4.0 is still at its embryonic stage. More advanced results are obtainable for the operation and maintenance management of existing ix es presenta una innovadora tecnologia de fabricació additiva per a construccions de gran altura. Consisteix en una millora de la tecnologia de les grues torre estàndard amb una extrusora personalitzada, mentre que tot el sistema està controlat per un agent d'intel•ligència artificial.Concloem que la Construcció 4.0 encara es troba en la seua etapa embrionària. Es poden obtindre resultats més avançats en la implantació tecnològica sobre infraestructures existents per a la seua gestió d'operació i manteniment degut a l'enfocament relacionat principalment amb la sensorització i anàlisi de dades. La innovació en la fase integrada de disseny/construcció continua sent més desafiadora, a causa de la necessitat d'un paradigma completament nou i innovacions industrials en molts camps diferents.

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Online adaptive PID tracking control of an aero-pendulum using PSO-scaled fuzzy gain adjustment mechanism

Cited by 16 publications

References 32 publications

An experimental comparison of different hierarchical self-tuning regulatory control procedures for under-actuated mechatronic systems

An experimental comparison of different hierarchical self-tuning regulatory control procedures for under-actuated mechatronic systems

Loop-Shaping ℋ<sub>∞</sub> Control of an Aeropendulum Model

Automation and Information Approaches to Support Maintenance and Production Management in the Construction Industry

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