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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Humaidi, Amjad J
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Synergetic Control-Based Sea Lion Optimization Approach for Position Tracking Control of Ball and Beam System Al-Khazraji, Huthaifa; Albadri, Kareem; Almajeez, Rawaa; Humaidi, Amjad J
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1551

Abstract

One of the most difficult systems to control is the ball and beam (BnB) system due to its under-actuation, instability, and nonlinearity. To address these challenges, this paper presents an application of using the nonlinear synergetic control (SC) algorithm for position tracking control of the BnB system. A swarm optimization method based on sea lion optimization (SLO) has also been used to achieve an optimum dynamic performance by adjusting the suggested controller’s parameter. The Integral Time of Absolute Errors (ITAE) is employed by the SLO as an objective function to adjust the design parameters of the suggested SC. Using MATLAB software, a comparison has been made between the SC controller and the classical state feedback controller (SFC) to test the effectiveness of the suggested control algorithm. The findings illustrate that the suggested SC offers better transient response in terms of reducing the settling time and the overshoot than SFC. The effect of the external disturbance has also been examined. It has been found that SC provides more robustness performance than SFC.
Synergetic Control Design Based Sparrow Search Optimization for Tracking Control of Driven-Pendulum System Al-Khazraji, Huthaifa; Al-Badri, Kareem; Al-Majeez, Rawaa; Humaidi, Amjad J
Journal of Robotics and Control (JRC) Vol 5, No 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.22893

Abstract

This study investigates the performance of designing a Synergetic Control (SC) approach for angular position tracking control of driven-pendulum systems. SC is one of the popular nonlinear control techniques that contributed in a variety of control design applications. This research shows a unique application of the SC for angular position tracking control of driven-pendulum systems. Initially, the equations of motion of the system are developed. Subsequently, the control law of the SC is established. For the stability analysis of the closed loop control system, the Lyapunov Function (L.F) is used. To guarantee optimal performance, a Sparrow Search Optimization (SSO) based approach is presented in order to search for the optimum designing parameters of the controller. For performance comparison, the classical Sliding Mode Control (SMC) is introduced. The simulation's outcomes of the study have been confirmed that the proposed control algorithm is addressed the tracking problem of the angular position of the system successfully. Besides, when an external disturbance is inherited in the simulation, the SC exhibits a robustness performance. Moreover, the performance of the SC is slightly similar as SMC. However, the distinct difference in the performance is that the control signal of the SMC exhibits chattering problem, while this phenomenon is absent in the SC. All computer simulations are carried out using MATLAB software.
Synergetic Control Design Based Sparrow Search Optimization for Tracking Control of Driven-Pendulum System Al-Khazraji, Huthaifa; Al-Badri, Kareem; Al-Majeez, Rawaa; Humaidi, Amjad J
Journal of Robotics and Control (JRC) Vol. 5 No. 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.22893

Abstract

This study investigates the performance of designing a Synergetic Control (SC) approach for angular position tracking control of driven-pendulum systems. SC is one of the popular nonlinear control techniques that contributed in a variety of control design applications. This research shows a unique application of the SC for angular position tracking control of driven-pendulum systems. Initially, the equations of motion of the system are developed. Subsequently, the control law of the SC is established. For the stability analysis of the closed loop control system, the Lyapunov Function (L.F) is used. To guarantee optimal performance, a Sparrow Search Optimization (SSO) based approach is presented in order to search for the optimum designing parameters of the controller. For performance comparison, the classical Sliding Mode Control (SMC) is introduced. The simulation's outcomes of the study have been confirmed that the proposed control algorithm is addressed the tracking problem of the angular position of the system successfully. Besides, when an external disturbance is inherited in the simulation, the SC exhibits a robustness performance. Moreover, the performance of the SC is slightly similar as SMC. However, the distinct difference in the performance is that the control signal of the SMC exhibits chattering problem, while this phenomenon is absent in the SC. All computer simulations are carried out using MATLAB software.
Co-Authors Al-Badri, Kareem AL-Khazraji, Huthaifa Al-Majeez, Rawaa Albadri, Kareem Almajeez, Rawaa