Knowledge Commons of Institute of Automation,CAS
Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator | |
Satyam Paul1; Ajay Arunachalam2; Davood Khodadad3; Henrik Andreasson2; Olena Rubanenko4 | |
发表期刊 | International Journal of Automation and Computing
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ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:4页码:568-580 |
摘要 | The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential (PID) control with type-2 fuzzy logic (T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator (TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID (T1-F-PID) controller. |
关键词 | Proportional-integral-differential (PID) controller fuzzy logic precision agriculture vibration control stability analysis modular manipulator agricultural robot computer numerical control (CNC) farming |
DOI | 10.1007/s11633-021-1280-5 |
语种 | 英语 |
七大方向——子方向分类 | 其他 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/45064 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.Department of Engineering Design and Mathematics, University of the West of England, Bristol BS16 1QY, UK 2.Centre for Applied Autonomous Sensor Systems (AASS), Orebro University, Orebro 70281, Sweden 3.Department of Applied Physics and Electronics, Umea University, Umea 90187, Sweden 4.Regional Innovational Center for Electrical Engineering, Faculty of Electrical Engineering, University of West Bohemia, Pilsen 30100, Czech Republic |
推荐引用方式 GB/T 7714 | Satyam Paul,Ajay Arunachalam,Davood Khodadad,et al. Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator[J]. International Journal of Automation and Computing,2021,18(4):568-580. |
APA | Satyam Paul,Ajay Arunachalam,Davood Khodadad,Henrik Andreasson,&Olena Rubanenko.(2021).Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator.International Journal of Automation and Computing,18(4),568-580. |
MLA | Satyam Paul,et al."Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator".International Journal of Automation and Computing 18.4(2021):568-580. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
IJAC-2020-05-127.pdf(1952KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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