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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Indonesian Journal of Electrical Engineering and Computer Science
Siti Fatimah Sulaiman
Universiti Teknikal Malaysia Melaka
Computer Science & IT Electrical & Electronics Engineering

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Pneumatic positioning control system using constrained model predictive controller: Experimental repeatability test Siti Fatimah Sulaiman; M. F. Rahmat; Ahmad Athif Faudzi; Khairuddin Osman; S. I. Samsudin; A. F. Z. Abidin; Noor Asyikin Sulaiman
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 5: October 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i5.pp3913-3923

Abstract

Most of the controllers that were proposed to control the pneumatic positioning system did not consider the limitations or constraints of the system in their algorithms. Non-compliance with the prescribed system constraints may damage the pneumatic components and adversely affect its positioning accuracy, especially when the system is controlled in real-time environment. Model predictive controller (MPC) is one of the predictive controllers that is able to consider the constraint of the system in its algorithm. Therefore, constrained MPC (CMPC) was proposed in this study to improve the accuracy of pneumatic positioning system while considering the constraints of the system. The mathematical model of pneumatic system was determined by system identification technique and the control signal to the valves were considered as the constraints of the pneumatic system when developing the controller. In order to verify the accuracy and reliability of CMPC, repetitive experiments on the CMPC strategy was implemented. The existing predictive controller, that was used to control the pneumatic system such as predictive functional control (PFC), was also compared. The experimental results revealed that CMPC effectively improved the position accuracy of the pneumatic system compared to PFC strategy. However, CMPC not capable to provide a fast response as PFC.
A new technique to reduce overshoot in pneumatic positioning system Siti Fatimah Sulaiman; M. F. Rahmat; A. A. M. Faudzi; Khairuddin Osman
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 5: October 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i5.12807

Abstract

This paper presents a new approach for improving the performance of the pneumatic positioning system by incorporating a nonlinear gain function with observer system. System identification technique has been employed to represent the pneumatic system, while a model predictive control (MPC) with the observer system has been employed as the main controller to control the positioning of the system. The nonlinear gain function has been incorporated with the control strategy to compensate nonlinearities and uncertainties inherent in the parameters of the system. Unconstrained and constrained cases of control signals have been considered in this study. Simulation based on Matlab/Simulink indicated a reduction in overshoot of the system response for both cases due to additional nonlinear gain function in the strategy. Furthermore, remarkable enhancement was observed in effectiveness of this function while incorporated in constrained case, when this new strategy successfully improved the transient response in the pneumatic positioning system.
Enhancement in pneumatic positioning system using nonlinear gain constrained model predictive controller: experimental validation Siti Fatimah Sulaiman; M. F. Rahmat; Ahmad Athif Faudzi; Khairuddin Osman; N. H. Sunar
Indonesian Journal of Electrical Engineering and Computer Science Vol 23, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v23.i3.pp1385-1397

Abstract

The issues of inaccurate positioning control have made an industrial use of pneumatic actuator remains restricted to certain applications only. Non-compliance with system limits and properly control the operating system may also degrade the performance of pneumatic positioning systems. This study proposed a new approach to enhance pneumatic positioning system while considering the constraints of system. Firstly, a mathematical model that represented the pneumatic system was determined by system identification approach. Secondly, model predictive controller (MPC) was developed as a primary controller to control the pneumatic positioning system, which took into account the constraints of the system. Next, to enhance the performance of the overall system, nonlinear gain function was incorporated within the MPC algorithm. Finally, the performances were compared with other control methods such as constrained MPC (CMPC), proportional-integral (PI), and predictive functional control with observer (PFC-O). The validation based on real-time experimental results for 100 mm positioning control revealed that the incorporation of nonlinear gain within the MPC algorithm improved 21.03% and 2.69% of the speed response given by CMPC and PFC-O, and reduced 100% of the overshoot given by CMPC and PI controller; thus, providing fast and accurate pneumatic positioning control system.
Co-Authors A. A. M. Faudzi A. F. Z. Abidin Ahmad Athif Faudzi Khairuddin Osman M. F. Rahmat N. H. Sunar Noor Asyikin Sulaiman S. I. Samsudin