| 1. |
- Paul, Satyam, et al.
(författare)
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Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator
- 2021
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Ingår i: International Journal of Automation and Computing. - : Chinese Academy of Sciences. - 1476-8186 .- 1751-8520. ; 18:4, s. 568-580
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Tidskriftsartikel (refereegranskat)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.
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| 2. |
- Paul, Satyam, et al.
(författare)
-
Fuzzy Tuned PID Controller for Vibration Control of Agricultural Manipulator
- 2020
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Ingår i: HORA 2020 - 2nd International Congress on Human-Computer Interaction, Optimization and Robotic Applications. - : IEEE. - 9781728193526 - 9781728193533 ; , s. 166-170
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Konferensbidrag (refereegranskat)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.
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| 3. |
- Paul, Satyam, et al.
(författare)
-
Fuzzy Tuned PID Controller for Vibration Control of Agricultural Manipulator
- 2020
-
Ingår i: HORA 2020 - 2nd International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings. - : IEEE. - 9781728193526
-
Konferensbidrag (refereegranskat)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.
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