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Stabilization and tracking control of underactuated ball and beam system using metaheuristic optimization based TID-F and PIDD2-PI control schemes.
Zafar, Farhan; Malik, Suheel Abdullah; Ali, Tayyab; Daraz, Amil; Afzal, Abdul Rahman; Bhatti, Farkhunda; Khan, Irfan Ahmed.
Afiliación
  • Zafar F; Department of Electrical and Computer Engineering, Faculty of Engineering and Technology, International Islamic University Islamabad (IIUI), Islamabad, Pakistan.
  • Malik SA; Department of Electrical and Computer Engineering, Faculty of Engineering and Technology, International Islamic University Islamabad (IIUI), Islamabad, Pakistan.
  • Ali T; Department of Electrical and Computer Engineering, Faculty of Engineering and Technology, International Islamic University Islamabad (IIUI), Islamabad, Pakistan.
  • Daraz A; School of Information Science and Engineering, NingboTech University, Ningbo, China.
  • Afzal AR; Department of Industrial Engineering, University of Business and Technology (UBT) University, Jeddah, Saudi Arabia.
  • Bhatti F; Department of Electronic Engineering, Mehran University of engineering & Technology Jamshoro, Jamshoro, Pakistan.
  • Khan IA; Department of Electrical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia.
PLoS One ; 19(2): e0298624, 2024.
Article en En | MEDLINE | ID: mdl-38354203
ABSTRACT
In this paper, we propose two different control strategies for the position control of the ball of the ball and beam system (BBS). The first control strategy uses the proportional integral derivative-second derivative with a proportional integrator PIDD2-PI. The second control strategy uses the tilt integral derivative with filter (TID-F). The designed controllers employ two distinct metaheuristic computation techniques grey wolf optimization (GWO) and whale optimization algorithm (WOA) for the parameter tuning. We evaluated the dynamic and steady-state performance of the proposed control strategies using four performance indices. In addition, to analyze the robustness of proposed control strategies, a comprehensive comparison has been performed with a variety of controllers, including tilt integral-derivative (TID), fractional order proportional integral derivative (FOPID), integral-proportional derivative (I-PD), proportional integral-derivative (PI-D), and proportional integral proportional derivative (PI-PD). By comparing different test cases, including the variation in the parameters of the BBS with disturbance, we examine step response, set point tracking, disturbance rejection analysis, and robustness of proposed control strategies. The comprehensive comparison of results shows that WOA-PIDD2-PI-ISE and GWO-TID-F- ISE perform superior. Moreover, the proposed control strategies yield oscillation-free, stable, and quick response, which confirms the robustness of the proposed control strategies to the disturbance, parameter variation of BBS, and tracking performance. The practical implementation of the proposed controllers can be in the field of under actuated mechanical systems (UMS), robotics and industrial automation. The proposed control strategies are successfully tested in MATLAB simulation.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Algoritmos / Robótica Idioma: En Revista: PLoS One Asunto de la revista: CIENCIA / MEDICINA Año: 2024 Tipo del documento: Article País de afiliación: Pakistán Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Algoritmos / Robótica Idioma: En Revista: PLoS One Asunto de la revista: CIENCIA / MEDICINA Año: 2024 Tipo del documento: Article País de afiliación: Pakistán Pais de publicación: Estados Unidos