Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

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Paul, SatyamDepartment of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom,Univ West England, Dept Engn Design & Math, Bristol BS16 1QY, Avon, England (author)

Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

Article/chapterEnglish2021

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2021-04-13
Chinese Academy of Sciences,2021
electronicrdacarrier

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LIBRIS-ID:oai:DiVA.org:oru-91570
https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-91570URI
https://doi.org/10.1007/s11633-021-1280-5DOI
https://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-182937URI
https://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-64200URI

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Language:English
Summary in:English

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Subject category:art swepub-publicationtype

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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.

Subject headings and genre

NATURVETENSKAP Data- och informationsvetenskap Datavetenskap hsv//swe
NATURAL SCIENCES Computer and Information Sciences Computer Sciences hsv//eng
TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
TEKNIK OCH TEKNOLOGIER Maskinteknik hsv//swe
ENGINEERING AND TECHNOLOGY Mechanical Engineering hsv//eng
Proportional-integral-differential (PID) controller
fuzzy logic
precision agriculture
vibration control
stability analysis
modular manipulator
agricultural robot
computer numerical control (CNC) farming
Computer Science
Datavetenskap

Added entries (persons, corporate bodies, meetings, titles ...)

Arunachalam, Ajay,1985-Örebro universitet,Institutionen för naturvetenskap och teknik,MRO AASS,Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, Örebro, Sweden,Örebro Univ, Ctr Appl Autonomous Sensor Syst AASS, S-70281 Örebro, Sweden(Swepub:oru)ayam (author)
Khodadad, DavoodUmeå universitet,Institutionen för tillämpad fysik och elektronik,Umeå Univ, Dept Appl Phys & Elect, S-90187 Umeå, Sweden(Swepub:umu)dakh0011 (author)
Andreasson, Henrik,1977-Örebro universitet,Institutionen för naturvetenskap och teknik,MRO AASS,Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, Örebro, Sweden,Örebro Univ, Ctr Appl Autonomous Sensor Syst AASS, S-70281 Örebro, Sweden(Swepub:oru)hkan (author)
Rubanenko, OlenaRegional Innovational Center for Electrical Engineering, Faculty of Electrical Engineering, University of West Bohemia, Pilsen, Czech Republic,Univ West Bohemia, Reg Innovat Ctr Elect Engn, Fac Elect Engn, Plzen 30100, Czech Republic (author)
Department of Engineering Design and Mathematics, University of the West of England, Bristol, United KingdomUniv West England, Dept Engn Design & Math, Bristol BS16 1QY, Avon, England (creator_code:org_t)

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In:International Journal of Automation and Computing: Chinese Academy of Sciences18:4, s. 568-5801476-81861751-8520

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