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All Journal Bulletin of Electrical Engineering and Informatics International Journal of Robotics and Control Systems
Addie Irawan
Universiti Malaysia Pahang
Control & Systems Engineering Electrical & Electronics Engineering

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FRIT-based integral action state feedback controller tuning using PSO for a liquid slosh suppression system Nurul Najihah Zulkifli; Mohd Syakirin Ramli; Hamzah Ahmad; Addie Irawan
Bulletin of Electrical Engineering and Informatics Vol 11, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v11i3.3262

Abstract

This paper presents a model-free approach of controller tuning to a liquid slosh suppression system. The sloshing is the usual occurrence happening to the liquid in a moving container. An integral action state feedback controller was proposed as the selected control structure. A fictitious reference signal was formulated using the recorded input-output data generated from a one-shot experiment and later be used to design the appropriate performance index. The minimization of the performance index of the controlled system was achieved by employing the PSO algorithm. Numerical analyses using MATLAB software have been conducted to evaluate the effectiveness of the proposed model-free approach. The results manifested that the tuned controller had exhibited good transient response performance regarding the trajectory tracking of the cart motion and reduction of slosh level motion.
Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle Norsharimie Mat Adam; Addie Irawan; Mohd Ashraf Ahmad
Bulletin of Electrical Engineering and Informatics Vol 11, No 4: August 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v11i4.3641

Abstract

Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuevering especially in cornering road. Therefore, this research has taken the initiative to contribute a better solution for vehicle control according to the mentioned problem and situation with a proposed robust super-twisting sliding mode control (ST-SMC) by simplified torque on wheel and steering angle input with decoupling lateral and longitudinal errors. This control technique approach to allow coping with the issue by reducing forces and inertia for optimum speed at the cornering period and with the almost precise steering positioning. The dynamic model of rack steering vehicle (RSV) is used as the model plant and the proposed control system is simulated for verification. The results shows that the proposed ST-SMC offers improved performance in terms of speed increase time and vehicle stability that gives impact to the RSV being skidded or collided to any obstacles during cornering period.
Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study Addie Irawan; Mohd Syakirin Ramli; Mohd Herwan Sulaiman; Mohd Iskandar Putra Azahar; Abdul Hamid Adom
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1002

Abstract

This paper introduces an optimal control strategy for pneumatic servo systems (PSS) positioning using Finite-time Prescribed Performance Control (FT-PPC) with Particle Swarm Optimization (PSO). Pneumatic servo systems are widely used in industrial automation, as well as medical and cybernetics systems that involve robotics applications. Precision in pneumatic control is crucial not only for the sake of efficiency but also safety. The primary goal of the proposed control strategy is to optimize the convergence rate and finite time of the prescribed performance function in error transformation of the FT-PPC, as well as the Proportional, Integral and Derivative (PID) controller as the inner-loop controller for this system. The study utilizes a dynamic model of a pneumatic proportional valve with a double-acting cylinder (PPVDC) as the targeted plant and performs simulations with a multi-step input trajectory. This offline tuning method is essential for such nonlinear systems to be safely optimized, avoiding major damage to the real-time fine-tuned works on the controller. The results demonstrate that the proposed control strategy surpasses the performance of FT-PPC with a PID controller alone, significantly improving the system's performance, including suppressing overshoot and oscillation in the responses. Further validation through the actual system of PPVDC using the fine-tuned values of FT-PPC and PID with PSO is a future task and more challenging to come, as hardware constraints may vary with different environments such as temperatures.
Co-Authors Abdul Hamid Adom Hamzah Ahmad Mohd Ashraf Ahmad Mohd Herwan Sulaiman Mohd Iskandar Putra Azahar Mohd Syakirin Ramli Norsharimie Mat Adam Nurul Najihah Zulkifli