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Fuzzy tuned PID controller for vibration control of agricultural manipulator

Paul, Satyam; Arunachalam, Ajay; Khodadad, Davood; Rubanenko, Olena

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Authors

Ajay Arunachalam

Davood Khodadad

Olena Rubanenko



Abstract

Image-based phenotyping systems have evolved over the years, and become an integral part of crop and plant science research. Phenotyping systems provide great potential to deliver critical insights, than the conventional destructive field methods. Stable image acquisition and processing is very important to accurately determine the characteristics in general, which further becomes very challenging and non-trivial when mounted over an motor mechanised arm. To address the near associated problems, we investigate on the possibility of applying the Proportional–Integral–Derivative (PID) control algorithm to the present manual setup with an aim to reduce vibration. This study focused towards investigating the active control and stabilization of the external camera shake, that may be induced by the driving motor. Nonetheless, very few researchers have focused on application of control algorithms for agriculture related practices. We validate the active control, and justify the need for the same.Type-2 fuzzy logic is combined with the PID control for better effectiveness. The non-linearity associated with the system is compensated by the type-2 fuzzy logic. The results shows that the active control has been achieved, and the vibration is minimized.

Citation

Paul, S., Arunachalam, A., Khodadad, D., & Rubanenko, O. (2020). Fuzzy tuned PID controller for vibration control of agricultural manipulator. In 2020 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). https://doi.org/10.1109/hora49412.2020.9152848

Conference Name HORA 2020 - 2nd International Congress on Human-Computer Interaction, Optimization and Robotic Applications
Conference Location Ankara, Turkey
Start Date Jun 26, 2020
End Date Jun 28, 2020
Acceptance Date May 10, 2020
Online Publication Date Jul 30, 2020
Publication Date Jul 30, 2020
Deposit Date Jul 31, 2020
Publicly Available Date Mar 29, 2024
Book Title 2020 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)
ISBN 9781728193526
DOI https://doi.org/10.1109/hora49412.2020.9152848
Keywords Manipulators , Fuzzy logic , Vibrations , Cameras , Vibration control , DC motors , Force , Fault detection , Stability
Public URL https://uwe-repository.worktribe.com/output/6442383

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