PID Studies on Position Tracking Control of an Electro-Hydraulic Actuator

Ishak, Norlela; Tajjudin, Mazidah; Ismail, Hashimah; Rahiman, Mohd Hezri Fazalul; Sam, Yahaya Md; Adnan, Ramli

doi:10.5923/j.control.20120205.04

Cited by 23 publications

(12 citation statements)

References 13 publications

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“…The tool is discussed in detail in [39] for the identification of these parameters using N-M technique. The fitness function is given by performance criteria provided in equation (6).…”

Section: Nelder-mead (N-m) Optimization Algorithmmentioning

confidence: 99%

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Anwaar¹,

Yin²,

Ijaz³

et al. 2018

Adv. Sci. Technol. Res. J.

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The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller parameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.

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“…The tool is discussed in detail in [39] for the identification of these parameters using N-M technique. The fitness function is given by performance criteria provided in equation (6).…”

Section: Nelder-mead (N-m) Optimization Algorithmmentioning

confidence: 99%

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Anwaar¹,

Yin²,

Ijaz³

et al. 2018

Adv. Sci. Technol. Res. J.

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show abstract

“…The tool for parameter identification using N-M techniques is discussed in [37]. The performance criteria developed in (12) is used as a fitness function.…”

Section: Nelder Mead Optimization Techniquementioning

confidence: 99%

Fractional Order Modeling and Control of Twin Rotor Aero Dynamical System using Nelder Mead Optimization

Ijaz¹,

Hamayun²,

Lin³

et al. 2016

Journal of Electrical Engineering and Technology

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-This paper presents an application of fractional order controller for the control of multi input multi output twin rotor aerodynamic system. Dynamics of the considered system are highly nonlinear and there exists a significant cross-coupling between the horizontal and vertical axes (pitch & yaw). In this paper, a fractional order model of twin rotor aerodynamic system is identified using input output data from nonlinear system. Based upon identified fractional order model, a fractional order PID controller is designed to control the angular position of level bar of twin rotor aerodynamic system. The parameters of controller are tuned using Nelder-Mead optimization and compared with particle swarm optimization techniques. Simulation results on the nonlinear model show a significant improvement in the performance of fractional order PID controller as compared to a classical PID controller.

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“…In [42], the feedback control system design using PID controller has been adopted because it is simple and robust when applied within specified operating range. To ensure a good performance of the controller, appropriate values for each parameter Kp, Ki and Kd must be tuned optimally.…”

Section: A Pid Controllermentioning

confidence: 99%

Review on Modeling and Controller Design of Hydraulic Actuator Systems

Salleh

Rahmat

Othman

et al. 2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-The purpose of this paper is to review the literature on modeling and previous control strategies of the hydraulic actuator system proposed by most of the researchers around the world.Before comes to the main discussion, some background information related to hydraulic actuator will be presented. This review includes a short summary and conclusion for hydraulic actuator system. The repercussion of this review is for future inventions of a better and robust hydraulic actuator system.

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PID Studies on Position Tracking Control of an Electro-Hydraulic Actuator

Cited by 23 publications

References 13 publications

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Fractional Order Modeling and Control of Twin Rotor Aero Dynamical System using Nelder Mead Optimization

Review on Modeling and Controller Design of Hydraulic Actuator Systems

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