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Journal : Journal of Robotics and Control (JRC)

Assessment of FLC, PID, Nonlinear PID, and SMC Controllers for Level Stabilization in Mechatronic Systems Al-Samarraie, Shibly A.; Gorial, Ivan I.
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23639

Abstract

Liquid level measurement is a vital task in industries such as food processing, chemical manufacturing, and petroleum. The findings show that FLC and SMC offer superior performance in terms of rapid response, precision, and stability, particularly in handling nonlinear processes. By implementing these sophisticated controllers, industries put up benefit from increased work stability, low material waste, and improved energy efficiency. The study’s results directly contribute to improving industrial applications by optimizing production and minimizing costs. The primary feather objective of a liquid level control system of rules is to exert a predetermined changeable level using a storage tank, measurement system, controller, and pump. This paper compares quaternary controllers: Fuzzy logical system Controller (FLC), Proportional-Integral-Derivative (PID), Nonlinear PID, and Sliding Mode verify (SMC) applied to some I and connected tankful systems. The FLC is an intelligent controller that excels at managing non-linear and uncertain systems by interpreting influx and outflow rates and adjusting the system to maintain desired unstable levels. Its adaptability to undefined scenarios is a key innovation. The PID controller is used as a benchmark undefined to its simplicity simply struggles with non-linear systems and time-varying parameters. The Non-linear PID controller improves upon the traditional PID by using wrongdoing saturation functions, providing better control in non-linear systems. The SMC is a robust control method that ensures system stableness in the front of disturbances and uncertainties, making it highly effective for heavy-duty applications. Simulation results show that FLC and SMC cater a faster response and better accuracy in reaching desired unstable levels compared to traditional PID controllers. Both systems demo robust stableness and efficient control. As seen in the provided data, the FLC reaches a steady-state level in as little as 8.34 seconds in Run 1 and 1.088 seconds in Run 2 for the single-tank system. Similarly, the SMC stabilizes the system in approximately 23.17 seconds in the coupled tank system, reflecting its robust control capabilities.
Assessment of FLC, PID, Nonlinear PID, and SMC Controllers for Level Stabilization in Mechatronic Systems Al-Samarraie, Shibly A.; Gorial, Ivan I.
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23639

Abstract

Liquid level measurement is a vital task in industries such as food processing, chemical manufacturing, and petroleum. The findings show that FLC and SMC offer superior performance in terms of rapid response, precision, and stability, particularly in handling nonlinear processes. By implementing these sophisticated controllers, industries put up benefit from increased work stability, low material waste, and improved energy efficiency. The study’s results directly contribute to improving industrial applications by optimizing production and minimizing costs. The primary feather objective of a liquid level control system of rules is to exert a predetermined changeable level using a storage tank, measurement system, controller, and pump. This paper compares quaternary controllers: Fuzzy logical system Controller (FLC), Proportional-Integral-Derivative (PID), Nonlinear PID, and Sliding Mode verify (SMC) applied to some I and connected tankful systems. The FLC is an intelligent controller that excels at managing non-linear and uncertain systems by interpreting influx and outflow rates and adjusting the system to maintain desired unstable levels. Its adaptability to undefined scenarios is a key innovation. The PID controller is used as a benchmark undefined to its simplicity simply struggles with non-linear systems and time-varying parameters. The Non-linear PID controller improves upon the traditional PID by using wrongdoing saturation functions, providing better control in non-linear systems. The SMC is a robust control method that ensures system stableness in the front of disturbances and uncertainties, making it highly effective for heavy-duty applications. Simulation results show that FLC and SMC cater a faster response and better accuracy in reaching desired unstable levels compared to traditional PID controllers. Both systems demo robust stableness and efficient control. As seen in the provided data, the FLC reaches a steady-state level in as little as 8.34 seconds in Run 1 and 1.088 seconds in Run 2 for the single-tank system. Similarly, the SMC stabilizes the system in approximately 23.17 seconds in the coupled tank system, reflecting its robust control capabilities.
Design and Implementation of a Backstepping Time Varying Sliding Mode Control for the Angular Velocity Control of a Hydraulic Rotary Actuator Abdullah, Aws M.; Al-Samarraie, Shibly A.; Ali, Hasan H.; Al-Qassar, Arif A.
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.24472

Abstract

The Backstepping Sliding Mode Control is a control technique used for controlling nonlinear systems. In this paper, the performance of the backstepping sliding mode controller schemes for the angular velocity control for a rotary actuator of an angular velocity control system that utilizes a novel hydraulic flow control method called inlet throttling was investigated. For the angular velocity dynamic, a linear state feedback with suitable high gain is designed as the virtual controller, where steady state error can be made arbitrarily small according to the gain value. A time varying sliding variable is then selected based on the designed virtual controller. The resulting control design is robust, and the maximum error of the angular velocity with respect to the desired value is derived via Lyapunov Function where its value can be controlled via suitable selections of the control parameters. The simulation results have been obtained based on the MATLAB software tools, which are system transient response, the performance and the robustness of the proposed control in forcing the angular velocity to track the reference value in spite of the uncertainty and disturbances in the system parameters were studied. The SMC is a more comprehensive solution for ensuring the best robustness of stability and performance for the model. The simulation results were generated using MATLAB software tools., which are system transient response, the proposed control performance and the robustness in forcing the angular velocity to track the reference value (100-2000 RPM) in spite of the uncertainty (+10%) and disturbances (5-30 N.m) in the system parameters are studied.