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The need for a high fidelity model for design, analysis and implementation of an unmanned helicopter system (UHS) in various emerging civil applications cannot be underestimated. However, going by a first principle approach based on physical laws governing the dynamics of the system, this task is noted to be highly challenging due to the complex nonlinear characteristics of the helicopter system....
One of the major problems associated with H-infinity controller design is the challenges of weighting function parameters' tuning. For a given control problem, it is requires to select appropriate weighting function parameters to satisfy both the stability requirement and time domain specifications. The conflicting nature of these objectives has made such design exercise a tedious endeavor. In this...
PID (proportional+integral+derivative) control is known as simple and easy-to-implement controller. However, the robustness performance is often not satisfactory when dealing with parameter variations of the plant. In addition, its design procedure is not straightforward for the system which is non-SISO (Singe Input Single Output) system like a gantry crane. In this paper, a stable robust PID controller...
Robust control has been studied in recent years as an efficient methodology for the design of highly performing controllers of positioning systems. However, it is necessary to provide accurate nominal model and associated uncertainty bounds to design this type of controllers. The aim of this paper is to robustly identify a single axis high precision positioning system with uncertainties. For a given...
In this paper, a novel method for tuning PID controller of automatic gantry crane control using particle swarm optimization (PSO) is proposed. PSO is one of the most recent optimization techniques based on evolutionary algorithm. PSO is also known as computationally efficient method. This work presents in detail how to apply PSO method in finding the optimal PID gains of gantry crane system in the...
Gantry cranes are widely used in various applications to transfer a payload from one position to desired position. Gantry crane system is an underactuated system where the number of inputs is less than the number of outputs. When the input signal is given to the actuator, the trolley starts to accelerate whilst causing a swing of payload hanging on a flexible cable. Many researchers have proposed...
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