research centers


Search results: Found 3

Listing 1 - 3 of 3
Sort by

Article
INTELLIGENT TRACKING CONTROL USING PSO-BASED INTERVAL TYPE-2 FUZZY LOGIC FOR A MIMO MANEUVERING SYSTEM

Author: Mohammed Y. Hassan
Journal: Al-Qadisiyah Journal for Engineering Sciences مجلة القادسية للعلوم الهندسية ISSN: 19984456 Year: 2018 Volume: 11 Issue: 1 Pages: 22-39
Publisher: Al-Qadisiyah University جامعة القادسية

Loading...
Loading...
Abstract

Air vehicle modeling like the helicopter is very challenging assignment because of the highly nonlinear effects, effective cross-coupling between its axes, and the uncertainties and complexity in its aerodynamics. The Twin Rotor Mutli-Input Multi-OutputSystem (TRMS) represents in its behavior a helicopter. TRMS has been widely used as an apparatus in Laboratories for experiments of control applications. The system consists of two degrees of freedom (DOF) model; that is yawing and pitching.This paper discusses the design of Four Interval Type-2 fuzzy logic controllers (IT2FLC) for yaw and pitch axes and their cross-couplings of a twin rotor MIMO system. The objectives of the designed controllers are to maintain the TRMS position within the pre-defined desired trajectories when exposed to changes during its maneuver. This must be achieved under uncertain or unknown dynamics of the system and due to external disturbances applied on the yaw and pitch angles. The coupling effects are determined as the uncertainties in the nonlinear TRMS. A PSO algorithm is used to tune the Inputs and output gains of the four Proportional-Derivative (PD) Like IT2FLCs to enhance the tracking characteristics of the TRMS model.Simulation results show the substantial enhancement in the performance using PSO-Based Interval Type-2 fuzzy logic controllers compared with that of using IT2FLCs only. The maximum percentage of enhancements reaches about 33% and the average percentage of enhancements is about 17.1%. They also show the proposed controller effectiveness improving time domain characteristics and the simplicity of the controllers

Keywords

IT2FLC --- TRMS --- PSO algorithm --- MIMO system --- FLC


Article
Ant Colony Optimization Based Type-2 Fuzzy Force-Position Control for Backhoe Excavator Robot
مسیطر ضبابي قوة–موقع من نوع_ 2 للحفارة الروبوتیة باستخدام خوارزمیة مستعمرة النمل

Authors: Mohammed Y. Hassan محمد یوسف حسن --- Athraa Faraj Sugban عذراء فرج صكبان
Journal: AL-NAHRAIN JOURNAL FOR ENGINEERING SCIENCES مجلة النهرين للعلوم الهندسية ISSN: 25219154 / eISSN 25219162 Year: 2018 Volume: 21 Issue: 1 Pages: 1-11
Publisher: Al-Nahrain University جامعة النهرين

Loading...
Loading...
Abstract

This paper proposes the design and simulation of Interval Type-2 Fuzzy Logic Control using MATLAB/Simulink to control the position of the bucket of the backhoe excavator robot during digging operations. In order to reach accurate position responses with minimum overshoot and minimum steady state error, Ant Colony Optimization (ACO) algorithm is used to tune the gains of the position and force parts for the force-position controllers to obtain the best position responses. The joints are actuated by the electro-hydraulic actuators. The force-position control incorporating two-Mamdani type-Proportional-Derivative-Interval Type-2 Fuzzy Logic Controllers for position control and 3-Proportional-Derivative Controllers for force control. The nonlinearity and uncertainty in the model that inherit in the electro hydraulic actuator system are also studied. The nonlinearity includes oil leakage and frictions in the joints. The friction model is represented as a Modified LuGre friction model in actuators. The excavator robot joints are subjected to Coulomb, viscous and stribeck friction. The uncertainty is represented by the variation of bulk modulus. It can be shown from the results that the ACO obtain the best gains of the controllers which enhances the position responses within the range of (19, 23 %) compared with the controllers tuned manually.

الخلاصةیقدم ھذا البحث تصمیم المسیطر المضبب من نوع - 2 للسیطرة على موضع دلو الحفارة الروبوتیة خلال عملیات الحفر. للحصولعلى نتائج دقیقة في الموضع مع اقل نسبة خطأ. یتم استخدام خوارزمیة مستعمرة النمل بغیة التوصل إلى استجابات زمنیة موقع دقیق مع اقلنسبة خطأ وضبط معاملات وحدات التحكم (قوة-موقع) للحصول على استجابات زمنیة أفضل موقع. اذ یتم تحریك المفاصل بواسطة المنظومةعدد 2- متناسب – مشتق لمراقبة الموقع (Mamdani)- الكھربائیة الھیدرولیكیة. یتكون المسیطر (قوة-موقع) من مسیطر ضبابي نوع - 2وعدد 3- متناسب – مشتق للتحكم بالقوة. تم دراسة اللاخطیة وعدم الیقین في نموذج المنظومة الكھربائیة الھیدرولیكیة اللاخطیة لتشملفي الأسطوانات. وتتعرض المفاصل الى الاحتكاك من نوع (LuGre) تسرب الزیت والاحتكاكات في المفاصل. یتمثل نموذج الاحتكاك بنوع (stribeck-viscous -Coulomb).أظھرت النتائج أن استخدام تقنیة مستعمرة النمل تعطي أفضل معاملات ربح المسیطر وبالتالي .حصول تحسینات لوحدات التحكم في الموقع بالمقارنة مع وحدات تحكم ضبطھا یدویا داخل النطاق بنسبة (19-23)%


Article
FPGA BASED P/PI/PD/PID-LIKE INTERVAL TYPE -2 FLC DESIGN FOR CONTROL SYSTEMS

Authors: Mohammed Y. Hassan --- Saif F. Abulhail
Journal: KUFA JOURNAL OF ENGINEERING مجلة الكوفة الهندسية ISSN: 25230018 Year: 2018 Volume: 9 Issue: 3 Pages: 165-179
Publisher: University of Kufa جامعة الكوفة

Loading...
Loading...
Abstract

Type-2iFuzzyilogicicontrol contains footprint of uncertainty (FOUi) that is able to handle the numerical uncertainties, nonlinearities, and linguistic associated with the inputs and outputs. This paper presents the structure of P/PI/PD/PID-like Interval Type-2 Fuzzy Logic Controller (IT2-FLC) that is designed and simulated using MATLAB SIMULINK. This controller is designed by combining the advantages of fuzzy inference and different structures of controller. The type of the controller is selected using two bits control inputs. The inputs to the controller are: input-output gains, set-point, and the actual output. Karnick-Mendel (KM) algorithm is used to implement the IT2-FLC. IT2FLC has two triangular shaped membership functions. The range of the universe of discourse (−1.5

Listing 1 - 3 of 3
Sort by
Narrow your search

Resource type

article (3)


Language

English (3)


Year
From To Submit

2018 (3)