research centers


Search results: Found 6

Listing 1 - 6 of 6
Sort by

Article
Studying The Effect of Sampling Time and Network Load on Wireless Networked Control Systems

Authors: Russul N. Abdul-Hussain --- Osama A. Awad
Journal: Journal of Al-Qadisiyah for Computer Science and Mathematics مجلة القادسية لعلوم الحاسوب والرياضيات ISSN: 20740204 / 25213504 Year: 2019 Volume: 11 Issue: 3 Pages: Comp Page 31-42
Publisher: Al-Qadisiyah University جامعة القادسية

Loading...
Loading...
Abstract

Wireless networked control systems (WNCS) are considered one of the main attracting topics in the control, communication and computing domains. One of the main problems that face these systems is the various time delays which occur in the measurements. The control design process would be complicated if there is a time delay in the feedback loop. Moreover, this delay affects the system performance in terms of instability. The literature of WNCS shows that the available controllers can deal with a limited number of nodes. Beyond this limit, the system becomes unstable. In this paper, an optimized Particle Swarm Optimization (PSO)-based PID and FOPID controllers are proposed for WNCS to control the plant wirelessly. The proposed controllers aim at minimizing the time delays and can make the system remains stable when the network tackles a large number of nodes with variable length packet sizes. The performances of the proposed optimized controllers are compared to show which one of them can be more robust against the challenges of WNCS, namely varying time-delays, to handle a greater number of nodes. The results show that the FOPID is more powerful than the PID controller.

Keywords

WNCS --- PID --- FOPID --- PSO --- Time delay --- Number of nodes


Article
A Cognition Path Planning with a Nonlinear Controller Design for Wheeled Mobile Robot Based on an Intelligent Algorithm
تخطيط مسار مدرك مع تصميم مسيطر لأخطي لعجلات الإنسان الآلي مبني على أساس الخوارزمية الذكية

Authors: Khulood E. Dagher خلود اسكندر داغر --- Attarid K. Ahmed عطارد خضير احمد --- Ahmed S. Al-Araji احمد صباح الاعرجي
Journal: Journal of Engineering مجلة الهندسة ISSN: 17264073 25203339 Year: 2019 Volume: 25 Issue: 1 Pages: 64-83
Publisher: Baghdad University جامعة بغداد

Loading...
Loading...
Abstract

This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the MATLAB package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.

أن هذا البحث يقدم تخطيط مسار مدرك مع تصميم خوارزمية التحكم لعجلات الإنسان الآلي مبنيا على أساس خوارزمية حشد الجسيمات الامثلية. أن الهدف من هذا العمل هو اقتراح خريطة الطريق الدائرية لتخطيط ولتوليد المسار الأمثل مع ملاحة حرة وكذلك اقتراح طريقة التحكم (MIMO-PID-MENN) اللاخطية لكي يتبع الإنسان الآلي المتحرك المسار المحدد. أن خوارزمية حشد الجسيمات الامثلية استخدمت في هذا البحث لإيجاد وتنغيم قيم العناصر المثلى للمسيطر والتي من خلالها نحصل على أفضل أشارة فعل للإنسان الآلي المتحرك. من خلال نتائج المحاكاة العددية باستخدام الحقيبة البرمجية الماتلاب, تبين أن الهيكلية المقترحة تمتلك ضبط ودقة عالية في توليد المسار المرغوب و بالإضافة الى ذلك الحصول على أفضل عزم مسيطر بدون نتوأ ولا حالة الإشباع مما يؤدي الى تقليل الخطأ ألتتابعي للإنسان الآلي.


Article
Design a Different Structures Controller for Controlled Systems Using a Spiking Neural Network

Authors: Ahmed Abduljabbar Mahmood --- Mohammed Y. Hassan
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2019 Volume: 19 Issue: 2 Pages: 18-29
Publisher: University of Technology الجامعة التكنولوجية

Loading...
Loading...
Abstract

The design and simulation of the Spiking Neural Network (SNN) areproposed in this paper to control a plant without and with load. The proposedcontroller is performed using Spike Response Model. SNNs are more powerfulthan conventional artificial neural networks since they use fewer nodes to solvethe same problem. The proposed controller is implemented using SNN to workwith different structures as P, PI, PD or PID like to control linear andnonlinear models. This controller is designed in discrete form and has threeinputs (error, integral of error and derivative of error) and has one output. Thetype of controller, number of hidden nodes, and number of synapses are setusing external inputs. Sampling time is set according to the controlled model.Social-Spider Optimization algorithm is applied for learning the weights of theSNN layers. The proposed controller is tested with different linear andnonlinear models and different reference signals. Simulation results proved theefficiency of the suggested controller to reach accurate responses with minimumMean Squared Error, small structure and minimum number of epochs under noload and load conditions.


Article
Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

Authors: Mustafa Y. Abbas --- Mohamed J. Mohamed
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2019 Volume: 19 Issue: 3 Pages: 1-15
Publisher: University of Technology الجامعة التكنولوجية

Loading...
Loading...
Abstract

One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties. Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance. This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller’s parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error. The Matlab simulation results demonstrate the good performance and robustness of this controller. These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot. Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.


Article
COMPARATIVE STUDY OF META-HEURISTIC AND CLASSICAL TECHNIQUES FOR AUTOMATIC GENERATION CONTROL OF A MULTI-SOURCE SINGLEAREA HYDRO-THERMAL-GAS POWER SYSTEM

Authors: Demilade D. Dinakin --- Peter O. Oluseyi
Journal: KUFA JOURNAL OF ENGINEERING مجلة الكوفة الهندسية ISSN: 25230018 Year: 2019 Volume: 10 Issue: 3 Pages: 151-172
Publisher: University of Kufa جامعة الكوفة

Loading...
Loading...
Abstract

The PID controller still remains a widely used and very effective means of achieving stability in control systems. Generally, the performance of the controller is determined by the proportional, integral and derivative gains of the controller. The classical techniques: ZieglerNichols (ZN) open loop method; ZN closed loop method; Chien-Hrones-Reswick (C-H-R) load rejection method; and meta-heuristic technique: the fuzzy logic algorithm, are used to determine the tuning parameters of the PID controller in this study. The performance comparison of these controllers is done for automatic generation control (AGC) of a multi-source single-area hydrothermal-gas power system. In such power systems, each source has a participation factor that determines its contribution to total power generation. The root mean square error (RMSE) is deployed to determine the proportionate balance of each generator’s output with its corresponding participation factor. The performance comparison of the controllers using Simulink/MATLAB shows that the fuzzy-PID controller achieved the most proportionate generation balance.


Article
Adaptive Fuzzy Super – Twisting Sliding Mode Controller optimized by ABC for Vehicle Suspension System

Authors: Turki Y. Abdalla --- Atheel K. Abdulzahra
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2019 Volume: 19 Issue: 2 Pages: 9-17
Publisher: Basrah University جامعة البصرة

Loading...
Loading...
Abstract

In this paper, a second order Sliding Mode Controller (SMC), based on Super – Twisting algorithm, Fuzzy estimator and PID controller is presented for quarter vehicle active suspensions. Because of the chattering that appeared at the output of the system when using first order SMC, second order SMC is preferred. The proposed controller has been derived in order to achieve the convergence and the stability of the system that can improve the comfortable driving and vehicles safety against different road disturbances. The Artificial Bee Colony optimization method has been utilized to find the optimal values of the proposed controller parameters.The obtained results of the simulations have been verified the efficiency and the ability of the proposed control scheme to suppress the oscillations and give the stability of the suspension system in the presence of uncertainty and different road disturbances.

Listing 1 - 6 of 6
Sort by
Narrow your search

Resource type

article (6)


Language

English (5)


Year
From To Submit

2019 (6)