Dr Satyam Paul Satyam.Paul@uwe.ac.uk
Lecturer in Mechatronics
Fuzzy tuned PID controller for envisioned agricultural manipulator
Paul, Satyam; Arunachalam, Ajay; Khodadad, Davood; Andreasson, Henrik; Rubanenko, Olena
Authors
Ajay Arunachalam
Davood Khodadad
Henrik Andreasson
Olena Rubanenko
Abstract
The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential (PID) control with type-2 fuzzy logic (T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator (TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID (T1-F-PID) controller.
Citation
Paul, S., Arunachalam, A., Khodadad, D., Andreasson, H., & Rubanenko, O. (2021). Fuzzy tuned PID controller for envisioned agricultural manipulator. International Journal of Automation and Computing, 18(4), 568–580. https://doi.org/10.1007/s11633-021-1280-5
Journal Article Type | Article |
---|---|
Acceptance Date | Jan 22, 2021 |
Online Publication Date | Apr 13, 2021 |
Publication Date | 2021-08 |
Deposit Date | Jan 24, 2021 |
Publicly Available Date | Apr 14, 2022 |
Journal | International Journal of Automation and Computing |
Print ISSN | 1476-8186 |
Electronic ISSN | 1751-8520 |
Publisher | Springer Verlag |
Peer Reviewed | Peer Reviewed |
Volume | 18 |
Issue | 4 |
Pages | 568–580 |
DOI | https://doi.org/10.1007/s11633-021-1280-5 |
Public URL | https://uwe-repository.worktribe.com/output/7032681 |
Files
Fuzzy tuned PID controller for envisioned agricultural manipulator
(3.9 Mb)
PDF
Licence
http://creativecommons.org/licenses/by/4.0/
Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
You might also like
Modeling of uncertain nonlinear system with Z-numbers
(2021)
Book Chapter
Fuzzy tuned PID controller for vibration control of agricultural manipulator
(2020)
Conference Proceeding
Active structure control
(2020)
Book Chapter
Bidirectional active control with vertical effect
(2020)
Book Chapter
Discrete-time fuzzy sliding-mode control
(2020)
Book Chapter
Downloadable Citations
About UWE Bristol Research Repository
Administrator e-mail: repository@uwe.ac.uk
This application uses the following open-source libraries:
SheetJS Community Edition
Apache License Version 2.0 (http://www.apache.org/licenses/)
PDF.js
Apache License Version 2.0 (http://www.apache.org/licenses/)
Font Awesome
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2024
Advanced Search