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It is known that the PID controller is ill-suited to handle time-delay processes, especially in applications with stringent control objectives to be met. For such purposes, deadtime compensators may be used. But such controllers still face resistance towards actual industrial applications due to their difficulties in implementation and realisation. In this paper, a PID solution involving setpoint...
Nowadays congestion control problem of the intermediate nodes in the Internet has received extensively attention in networking and control community. In this paper, a novel adaptive PID (Proportional-Integral-Differential) controller based on neural networks for the problem of AQM with ECN marks is presented. Considering a previously developed nonlinear dynamic model of TCP/AQM system and the queue...
PID controllers are popular in industrial applications, as they are easy to install and reasonably robust. However, for highly nonlinear systems, the performance of PID controllers can deteriorate quite fast. It is necessary to develop nonlinear PID controllers for controlling nonlinear processes. An approach to design these controllers is to switch between several linear PID controllers using fuzzy...
This paper presents an electric narrow tilting vehicle (NTV), which is named intelligent personal mobility (IPM). It can tilt to prevent from rollover. The tilting control strategy is also proposed and implemented by double-loop PID controller in this paper, the first loop controls the tilting rate, and the second loop which encloses the first loop controls the tilting position. This double-loop PID...
A nonlinear multivariable adaptive decoupling PID control strategy based on multiple models and neural network is proposed for a class of uncertain discrete time nonlinear dynamical systems. The adaptive decoupling PID controller is composed of a linear adaptive PID decoupling controller, a neural network nonlinear adaptive PID decoupling controller and a switch mechanism. The PID parameters of such...
This paper presents the design of a neural network-based feedback linearisation (NARMA-L2) slip controller for an anti-lock braking system (ABS). The dynamics of the electro-mechanical based braking system are incorporated in the ABS model and thus a slip controller is developed to minimise the braking distance. The proposed controller is compared with an optimally-tuned PID controller. Simulation...
This article discusses the problem of determining the parameter sets of stabilizing PID controllers for first-order plus double integrating processes with time-delay. The method adopted in the article is based on a version of Hermite-Biehler theorem valid for quasi-polynomial and a graphical stability criterion for time-delay systems. The admissible range of proportional-gain is first derived. Then,...
Parametric optimization techniques is an established practice for designing controllers. It was used, for example, to obtain the parameters of PI and PID controllers in several works. An important criticism to this technique is the dependence of the design from a parametric model of the plant, which have to be very accurate. In the current work, the problem of designing a continuous-time PID controller...
Even though many researchers have studied spherical mobile robots, a robot with an elastic external frame can hardly be in the literature. Therefore in this study the pendulum-driven spherical mobile robot is introduced. The external frame of the robot is designed as glass fiber sticks which show good elastic characteristics. All control modules, such as a Zigbee wireless communication module and...
This paper proposes a novel method to synthesize robust proportional-integral-derivative (PID) controllers using particle swarm optimization (PSO). Robust control is well known for its ability in dealing with system uncertainties and disturbances. Standard robust control design, however, can result in controllers that are high-order and complicated and can be difficult to implement in practical applications...
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