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All Journal Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science
Youssef Ait El Kadi
Sultan Moulay Slimane University
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System Fatima Zahra Baghli; Yassine Lakhal; Youssef Ait El Kadi
Journal of Robotics and Control (JRC) Vol 4, No 3 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i3.17709

Abstract

In this article, a robot manipulator is controlled by the PID controller in a closed loop system with unit feedback. The difficulty of using the controller is parameter tuning, because the tuning parameters still use the trial and error method to find the PID parameter constants, namely Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). In this case the Ant colony Optimization algorithm (ACO) is used to find the best gain parameters of the PID. The Ant algorithm is a method of combinatorial optimization, which utilizes the pattern of ants search for the shortest path from the nest to the place where the food is located, this concept is applied to tuning PID parameters by minimizing the objective function such that the robot manipulator has improved performance characteristics. This work uses the Matlab Simulink environment, First, after obtaining the system model, the ant colony algorithm is used to determine the proper coefficients ????p, ????i, and Kd in order to minimize the trajectory errors of the two joints of the robot manipulator. Then, the parameters will implement in the robot system. According to the results of the computer simulations, the proposed method (ACO-PID) gives a system that has a good performance compared with the classical PID.
Study, simulation and realization of a fuzzy logic-based MPPT controller in an isolated DC microgrid Abdelaziz Youssfi; Abdelmounaim Alioui; Youssef Ait El Kadi
Indonesian Journal of Electrical Engineering and Computer Science Vol 34, No 3: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v34.i3.pp1420-1433

Abstract

This study presents a pioneering methodology for implementing the maximum power point tracking (MPPT) controller, based on fuzzy logic. Through a comprehensive performance analysis, we evaluate its effectiveness compared to the widely used perturb and observe (P&O) algorithm, which is a common MPPT technique. The main objective of our proposed MPPT approach is to improve the performance of a photovoltaic (PV) system. To evaluate the performance of the proposed MPPT controller and compare it with the P&O algorithm, we designed and simulated both controllers using MATLAB/Simulink. We also implemented a prototype of the controllers using an Arduino Mega board, and evaluated their performance under real operating conditions. The experimental results unequivocally confirm that the fuzzy logic-based MPPT controller outperforms the P&O algorithm in terms of performance, speed and accuracy. The fuzzy logic controller offers greater accuracy in tracking the maximum power point under various environmental circumstances, including variations in solar irradiation and connected load. Overall, this work contributes to the development of efficient and reliable MPPT controllers for PV systems, and provides a comparison of the performances of two popular MPPT techniques. Future research could explore other MPPT techniques and evaluate their performance using similar experimental setups.
Co-Authors Abdelaziz Youssfi Abdelmounaim Alioui Fatima Zahra Baghli Yassine Lakhal