Sy Najib Sy Salim

Tracking performance and disturbance rejection of pneumatic actuator system

This paper investigates several control strategies that potential to perform well in regulating and tracking set point of pneumatic actuator system and able to reject disturbance. The system consists of 5-port proportional valve with the dead-band flow and double rod cylinders that exhibit significant friction. Two control strategies of PID and NPID controllers with four different configurations with and without dead-zone compensators (DZC) are simulated. Three different input signals including step, sinusoidal and random waveforms are used to evaluate the performance of the proposed techniques. The effectiveness of NPID+DZC has been successfully demonstrated and proved through simulation and experimental studies.

Application of optimization technique for PID controller tuning in position tracking of pneumatic actuator system

In this paper, two optimization techniques of Particle Swarm Optimization (PSO) and Firefly Algorithm (FA) is used to obtain the optimal PID control parameters. To represent the model of the system, system identification with ARX model structure is developed. The results are determined by analysis the step response characteristic of the system. It was observed that the performances of PID controller with PSO optimized parameters perform well in position tracking of the pneumatic actuator system.

Development of an automatic parallel parking system for nonholonomic mobile robot

This paper depicts the development of backward automatic parallel parking system for nonholonomic mobile robot. The configuration of the system consists of ultrasonic sensor, rotary encoder, controller, and actuators. The path planning algorithm is developed based on the data acquired from the sensor. The proposed idea of the path planning is based on the geometrical equations in which the needed information is referring to the distance between the mobile robot and the adjacent object. The ultrasonic sensor and rotary encoder respectively used to detect parking area and measure the detected space. A PIC32MX360F512L microcontroller is used in order to generate the algorithm and control the movement of the mobile robot. System implementation is briefly described to depict the system as a whole. Experimental results are presented to demonstrate and validate effectiveness of the technique used.

A study on tracking peformance of the pneumatic system with enhanced NPID controller

An investigation on the performance of enhanced Nonlinear Proportional Integral Derivative (ENPID) controller is presented in this paper. The study is focused on the potential of the controller to perform well in tracking set point of pneumatic actuator system. Two control strategies of the ENPID are considered in this paper, namely Multi-rate NPID (MN-PID) and Self-regulation NPID (SN-PID). These control strategies are tested against NPID and conventional PID controller. Also, the dead-zone compensation (DZC) is applied to the system to overcome the dead-band of the valve. Feed forward path is also included to improve the tracking performance. Two different input signals i.e. sinusoidal and S-curve waveforms are used to evaluate the performance of the techniques. To further examine the controller performance, the frequency and amplitude of the sinusoidal test signal are varied. The effectiveness of the proposed controllers is verified through simulation and experimental studies.

A self-tuning decentralized PI control for multivariable plant

Tuning of controller is one of the most basic functions in control engineering in obtaining optimal control parameters and hence achieving optimal dynamic responses of the system. The work presents the self-tuning PI controller that potential to auto-tune the controller parameters and adapting the changes in controlled process parameter for a MIMO system. The decentralized PI controller with an adaptive interaction algorithm is developed and tested to nonlinear multivariable wastewater treatment plant. It is aims to self-tune the PI control parameters in regulating the substrate and DO concentrations from a steady state operating point. It was observed that the proposed control structure and the tuning algorithm were successfully tracks the desired set-point with considerable effects in noisy environment.