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All Journal Journal of Fuzzy Systems and Control (JFSC)
Huynh, Thanh-Do
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Implementation of Fuzzy-PID Controller for 2-DOF Helicopter Huynh, Thanh-Do; Bach, Ngoc-Thanh; Le, Quang-Dao; Le, Duong-Dong; Bui, Viet-Hoang; Vo, Hoai-An; Nguyen, Viet-Nhat-Long; Pham, Phi-Hung; Nguyen, Huu-Dat; Nguyen, Van-Dong-Hai
Journal of Fuzzy Systems and Control Vol. 2 No. 2 (2024): Vol. 2, No. 2, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i2.204

Abstract

This article presents the model and control of a 2-DOF helicopter, a multi-input multi-output (MIMO) system that is set up in the laboratory. The conventional mathematical model, employing the Euler-Lagrange method, is utilized in this study to conduct the system modeling process. The transfer functions derived from this model are then incorporated into diverse control methodologies to optimize PID gain coefficients. The PID controllers are employed to control this system. In addition, we use a Fuzzy controller to adjust the Kp, Ki, and Kd coefficients of this PID. As a result, we obtain a fuzzy PID controller with superior control quality than a PID controller. Under Fuzzy-PID, the system operates more stably, overcoming some weaknesses of the PID linear controller. The state space model is built by considering specific design assumptions and simplifications. Results are obtained through simulation and testing on the model.
PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment Nguyen, Van-Dong-Hai; Cu, Minh-Phuoc; Nguyen, Tran-Minh-Nguyet; Huynh, Thanh-Do; Dang, Dinh-Khoi; Hoang, Tan-Dat; Nguyen, Minh-Quan; Vu, Dinh-Dung; Le, Chi-Hai-Duong; Phan, Nguyen-Bao-Long; Bui, Quoc-Duy; Le, Ngoc-Hai; Vo, Duy-Phuc
Journal of Fuzzy Systems and Control Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i3.153

Abstract

Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.
Co-Authors Bach, Ngoc-Thanh Bui, Quoc-Duy Bui, Viet-Hoang Cu, Minh-Phuoc Dang, Dinh-Khoi Hoang, Tan-Dat Le, Chi-Hai-Duong Le, Duong-Dong Le, Ngoc-Hai Le, Quang-Dao Nguyen, Huu-Dat Nguyen, Minh-Quan Nguyen, Tran-Minh-Nguyet Nguyen, Van-Dong-Hai Nguyen, Viet-Nhat-Long Pham, Phi-Hung Phan, Nguyen-Bao-Long Vo, Duy-Phuc Vo, Hoai-An Vu, Dinh-Dung