M. H. Widianto, Ardiles Sinaga, Maria Artanta Ginting
Artificial intelligence (AI) has recently been used frequently, especially concerning the Internet of Things (IoT). However, IoT devices cannot work alone, assisted by Low Power Wide Area Network (LPWAN) for long-distance communication and Short-Range Network for a short distance. However, few reviews about AI can help LPWAN and Short-Range Network. Therefore, the author took the opportunity to do this review. This study aims to review LPWAN and Short-Range Networks AI papers in systematically enhancing IoT performance. Reviews are also used to systematically maximize LPWAN systems and Short-Range networks to enhance IoT quality and discuss results that can be applied to a specific scope. The author utilizes selected reporting items for systematic review and meta-analysis (PRISMA). The authors conducted a systematic review of all study results in support of the authors' objectives. Also, the authors identify development and related study opportunities. The author found 79 suitable papers in this systematic review, so a discussion of the presented papers was carried out. Several technologies are widely used, such as LPWAN in general, with several papers originating from China. Many reports from conferences last year and papers related to this matter were from 2020-2021. The study is expected to inspire experimental studies in finding relevant scientific papers and become another review.
{"title":"A Systematic Review of LPWAN and Short-Range Network using AI to Enhance Internet of Things","authors":"M. H. Widianto, Ardiles Sinaga, Maria Artanta Ginting","doi":"10.18196/jrc.v3i4.15419","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15419","url":null,"abstract":"Artificial intelligence (AI) has recently been used frequently, especially concerning the Internet of Things (IoT). However, IoT devices cannot work alone, assisted by Low Power Wide Area Network (LPWAN) for long-distance communication and Short-Range Network for a short distance. However, few reviews about AI can help LPWAN and Short-Range Network. Therefore, the author took the opportunity to do this review. This study aims to review LPWAN and Short-Range Networks AI papers in systematically enhancing IoT performance. Reviews are also used to systematically maximize LPWAN systems and Short-Range networks to enhance IoT quality and discuss results that can be applied to a specific scope. The author utilizes selected reporting items for systematic review and meta-analysis (PRISMA). The authors conducted a systematic review of all study results in support of the authors' objectives. Also, the authors identify development and related study opportunities. The author found 79 suitable papers in this systematic review, so a discussion of the presented papers was carried out. Several technologies are widely used, such as LPWAN in general, with several papers originating from China. Many reports from conferences last year and papers related to this matter were from 2020-2021. The study is expected to inspire experimental studies in finding relevant scientific papers and become another review.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124172062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) design is used as a component of active disturbance rejection control (ADRC) to reduce the knee position trajectory for therapeutic purposes. The suggested controller will improve the needed position performances for the Exoskeleton system when compared to the proportional-derivative controller (PD) and SMC as feed-forward in the ADRC approach, as shown theoretically and through computer simulations. Simulink tool is used in this comparison to analyze the nominal case and several disruption cases. The results of mathematical modeling and simulation studies demonstrated that SMC with a disturbance observer strategy performs better than the PD control system and SMC in feed-forward with a greater capacity to reject disturbances and significantly better than these controllers. Performance indices are used for numerical comparison to demonstrate the superiority of these controllers.
{"title":"Observer Sliding Mode Control Design for lower Exoskeleton system: Rehabilitation Case","authors":"N. A. Alawad, A. Humaidi, Ahmed S Alaraji","doi":"10.18196/jrc.v3i4.15239","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15239","url":null,"abstract":"Sliding mode (SM) has been selected as the controlling technique, and the state observer (SO) design is used as a component of active disturbance rejection control (ADRC) to reduce the knee position trajectory for therapeutic purposes. The suggested controller will improve the needed position performances for the Exoskeleton system when compared to the proportional-derivative controller (PD) and SMC as feed-forward in the ADRC approach, as shown theoretically and through computer simulations. Simulink tool is used in this comparison to analyze the nominal case and several disruption cases. The results of mathematical modeling and simulation studies demonstrated that SMC with a disturbance observer strategy performs better than the PD control system and SMC in feed-forward with a greater capacity to reject disturbances and significantly better than these controllers. Performance indices are used for numerical comparison to demonstrate the superiority of these controllers.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121645173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Electric cars have undergone many developments in the current digital era. This is to avoid the use of increasingly scarce fuel. Recent studies on electric cars show that battery estimation is an interesting topic to be implemented directly. The battery estimation strategy is carried out by the Battery Management System (BMS). BMS is an indispensable part of electric vehicles or hybrid vehicles to ensure optimal and reliable operation of regulating, monitoring, and protecting batteries. A reliable BMS can extend battery life by setting voltage, temperature, and charging and discharging current limits. The main estimation strategy used by BMS is battery fault, SOH, and battery life. Battery State of Health (SOH) is part of the information provided by the BMS to avoid battery damage and failure. SOC is the proportion of battery capacity SOH is a measure of battery health. This study aims to develop a method for estimating SOH simultaneously using Coulomb Counting and Open Circuit Voltage (OCV) algorithms. The battery is modeled to obtain battery parameters and components of internal resistance, capacitance polarization and OCV voltage source. Several tests were implemented in this research by applying the constant current (CC)-charge CC-discharge test. The state-space system is then formed to apply the Coulomb Counting and OCV algorithms so that SOH can be estimated simultaneously. The OCV-SOC function is obtained in the form of a tenth order polynomial and the battery model parameters say that these parameters change with the health of the battery. The results of the model validation are able to accurately model the battery with an average relative error of 0.027%. Coulomb Counting resulted in an accurate SOH estimation with an error of 3.4%.
{"title":"Direct Comparison using Coulomb Counting and Open Circuit Voltage Method for the State of Health Li-Po Battery","authors":"Lora Khaula Amifia","doi":"10.18196/jrc.v3i4.15515","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15515","url":null,"abstract":"Electric cars have undergone many developments in the current digital era. This is to avoid the use of increasingly scarce fuel. Recent studies on electric cars show that battery estimation is an interesting topic to be implemented directly. The battery estimation strategy is carried out by the Battery Management System (BMS). BMS is an indispensable part of electric vehicles or hybrid vehicles to ensure optimal and reliable operation of regulating, monitoring, and protecting batteries. A reliable BMS can extend battery life by setting voltage, temperature, and charging and discharging current limits. The main estimation strategy used by BMS is battery fault, SOH, and battery life. Battery State of Health (SOH) is part of the information provided by the BMS to avoid battery damage and failure. SOC is the proportion of battery capacity SOH is a measure of battery health. This study aims to develop a method for estimating SOH simultaneously using Coulomb Counting and Open Circuit Voltage (OCV) algorithms. The battery is modeled to obtain battery parameters and components of internal resistance, capacitance polarization and OCV voltage source. Several tests were implemented in this research by applying the constant current (CC)-charge CC-discharge test. The state-space system is then formed to apply the Coulomb Counting and OCV algorithms so that SOH can be estimated simultaneously. The OCV-SOC function is obtained in the form of a tenth order polynomial and the battery model parameters say that these parameters change with the health of the battery. The results of the model validation are able to accurately model the battery with an average relative error of 0.027%. Coulomb Counting resulted in an accurate SOH estimation with an error of 3.4%.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126134253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Dewi Marfuah, Nurul Kholisatul 'Ulya, Dewi Pertiwi Dyah Kusudaryati, Agung Setya Wardana, Eko Nugroho
Thermal processing is a technique for sterilizing foods through heating at high temperatures. Thermal processing plays a significant role in preserving foods economically, efficiently, reliably, and safely. Control in thermal processing of foods is necessary to avoid any decrease in food quality, i.e., color change, reduced content, sensory quality, and nutrition. Artificial Neural Network (ANN) has been developed as a computing method in research and developments on thermal processing methods to discover one suitable for food processing without damaging food quality. To this date, ANN has been used in food industries for modeling many processes. The paper aims to identify the latest trend in intelligent neural network control for the thermal processing of foods. The paper conducted a systematic literature review with five research questions using Preferred Reporting Items for Systematic Review (PRISMA). According to screening results and article selection, 240 potential articles have fulfilled the inclusion criteria. Then, each article was explored to identify the advantage and the advance of intelligent network control in thermal food processing. It can be concluded that the technology in information and computations of food processing has rapidly developed and advanced through the utilization of a combination of ANN with fuzzy logic and/or genetic algorithms.
{"title":"Current Trends in Intelligent Control Neural Networks for Thermal Processing (Foods): Systematic Literature Review","authors":"Dewi Marfuah, Nurul Kholisatul 'Ulya, Dewi Pertiwi Dyah Kusudaryati, Agung Setya Wardana, Eko Nugroho","doi":"10.18196/jrc.v3i4.15232","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15232","url":null,"abstract":"Thermal processing is a technique for sterilizing foods through heating at high temperatures. Thermal processing plays a significant role in preserving foods economically, efficiently, reliably, and safely. Control in thermal processing of foods is necessary to avoid any decrease in food quality, i.e., color change, reduced content, sensory quality, and nutrition. Artificial Neural Network (ANN) has been developed as a computing method in research and developments on thermal processing methods to discover one suitable for food processing without damaging food quality. To this date, ANN has been used in food industries for modeling many processes. The paper aims to identify the latest trend in intelligent neural network control for the thermal processing of foods. The paper conducted a systematic literature review with five research questions using Preferred Reporting Items for Systematic Review (PRISMA). According to screening results and article selection, 240 potential articles have fulfilled the inclusion criteria. Then, each article was explored to identify the advantage and the advance of intelligent network control in thermal food processing. It can be concluded that the technology in information and computations of food processing has rapidly developed and advanced through the utilization of a combination of ANN with fuzzy logic and/or genetic algorithms.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125034195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
R. Sugin Elankavi, D. Dinakaran, Arockia Selvakumar Arockia Doss, Kuppan Chetty RAMANATHAN, M. M. Ramya
The most popular method for transporting fluids, and gases is through pipelines. For them to work correctly, regular inspection is necessary. Humans must enter potentially dangerous environments to inspect pipelines. As a result, pipeline robots came into existence. These robots aid in pipeline inspection, protecting numerous people from harm. Despite numerous improvements, pipeline robots still have several limitations. This paper presents the design and motion planning of a wheeled type pipeline inspection robot that can inspect pipelines having an inner diameter between 250 mm to 350 mm. The traditional wheeled robot design has three wheels fixed symmetrically at a 120° angle apart from each other. When maneuvering through a curved pipeline, this robot encounters motion singularity. The proposed robot fixes the wheels at different angles to address this issue, allowing the robot to stay in constant contact with the pipe's surface. Motion analysis is done for the proposed and existing robot design to study their behavior inside the pipeline. The result shows that the proposed robot avoids motion singularity and improves mobility inside pipelines. 3d printing technology aids in the development of the proposed robot. The experimental tests on the developed robot inside a 300 mm-diameter straight and curved pipeline show that the robot avoids motion singularity.
{"title":"Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot","authors":"R. Sugin Elankavi, D. Dinakaran, Arockia Selvakumar Arockia Doss, Kuppan Chetty RAMANATHAN, M. M. Ramya","doi":"10.18196/jrc.v3i4.14742","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.14742","url":null,"abstract":"The most popular method for transporting fluids, and gases is through pipelines. For them to work correctly, regular inspection is necessary. Humans must enter potentially dangerous environments to inspect pipelines. As a result, pipeline robots came into existence. These robots aid in pipeline inspection, protecting numerous people from harm. Despite numerous improvements, pipeline robots still have several limitations. This paper presents the design and motion planning of a wheeled type pipeline inspection robot that can inspect pipelines having an inner diameter between 250 mm to 350 mm. The traditional wheeled robot design has three wheels fixed symmetrically at a 120° angle apart from each other. When maneuvering through a curved pipeline, this robot encounters motion singularity. The proposed robot fixes the wheels at different angles to address this issue, allowing the robot to stay in constant contact with the pipe's surface. Motion analysis is done for the proposed and existing robot design to study their behavior inside the pipeline. The result shows that the proposed robot avoids motion singularity and improves mobility inside pipelines. 3d printing technology aids in the development of the proposed robot. The experimental tests on the developed robot inside a 300 mm-diameter straight and curved pipeline show that the robot avoids motion singularity.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124779749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
O. Diouri, A. Gaga, S. Senhaji, Mohammed Ouazzani Jamil
This paper presents the design, test and validation process of the maximum power point tracking (MPPT) based on the Perturb and Observe backstepping controller. The design of this robust controller follows a sequence of two tests of the validated model-based design (MBD) approach. Our contribution is to give a roadmap for designing, testing and validating embedded software for MPPT algorithms. Perturb and observe algorithm is used to generate the reference voltage which is used by the backstepping controller to generate the maximum power. Then, after simulation of all these techniques, generated optimized C code for the STM32F4 microcontroller is necessary to test the controller on embedded platform. Therefore, the algorithm of MPPT is simulated by Model in the Loop (MIL) and Processor in the Loop (PIL) techniques. The results show that the proposed system has full control over reference power, for different atmospheric changes, by backstepping and integrating into a 32-bit ARM microcontroller. In all of the various tests, the embedded software developed demonstrates high compliance and high performance with MPPT requirements.
{"title":"Design and PIL Test of High Performance MPPT Controller Based on P&O-Backstepping Applied to DC-DC Converter","authors":"O. Diouri, A. Gaga, S. Senhaji, Mohammed Ouazzani Jamil","doi":"10.18196/jrc.v3i4.15184","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15184","url":null,"abstract":"This paper presents the design, test and validation process of the maximum power point tracking (MPPT) based on the Perturb and Observe backstepping controller. The design of this robust controller follows a sequence of two tests of the validated model-based design (MBD) approach. Our contribution is to give a roadmap for designing, testing and validating embedded software for MPPT algorithms. Perturb and observe algorithm is used to generate the reference voltage which is used by the backstepping controller to generate the maximum power. Then, after simulation of all these techniques, generated optimized C code for the STM32F4 microcontroller is necessary to test the controller on embedded platform. Therefore, the algorithm of MPPT is simulated by Model in the Loop (MIL) and Processor in the Loop (PIL) techniques. The results show that the proposed system has full control over reference power, for different atmospheric changes, by backstepping and integrating into a 32-bit ARM microcontroller. In all of the various tests, the embedded software developed demonstrates high compliance and high performance with MPPT requirements.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128401848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between five meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), and Multi-Verse Optimizer (MVO). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. It is observed that the MPA technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.
{"title":"Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System","authors":"E. S. Ghith, F. A. Tolba","doi":"10.18196/jrc.v3i3.14827","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14827","url":null,"abstract":"Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between five meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), and Multi-Verse Optimizer (MVO). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. It is observed that the MPA technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133736459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
N. S. Abu, W. Bukhari, C. Ong, A. M. Kassim, T. A. Izzuddin, M. N. Sukhaimie, M. A. Norasikin, A. Rasid
The goal of this paper is to review the implementation of an Internet of Things (IoT)-based system in the precision agriculture sector. Each year, farmers suffer enormous losses as a result of insect infestations and a lack of equipment to manage the farm effectively. The selected article summarises the recommended systematic equipment and approach for implementing an IoT in smart farming. This review's purpose is to identify and discuss the significant devices, cloud platforms, communication protocols, and data processing methodologies. This review highlights an updated technology for agricultural smart management by revising every area, such as crop field data and application utilization. By customizing their technology spending decisions, agriculture stakeholders can better protect the environment and increase food production in a way that meets future global demand. Last but not least, the contribution of this research is that the use of IoT in the agricultural sector helps to improve sensing and monitoring of production, including farm resource usage, animal behavior, crop growth, and food processing. Also, it provides a better understanding of the individual agricultural circumstances, such as environmental and weather conditions, the growth of weeds, pests, and diseases.
{"title":"Internet of Things Applications in Precision Agriculture: A Review","authors":"N. S. Abu, W. Bukhari, C. Ong, A. M. Kassim, T. A. Izzuddin, M. N. Sukhaimie, M. A. Norasikin, A. Rasid","doi":"10.18196/jrc.v3i3.14159","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14159","url":null,"abstract":"The goal of this paper is to review the implementation of an Internet of Things (IoT)-based system in the precision agriculture sector. Each year, farmers suffer enormous losses as a result of insect infestations and a lack of equipment to manage the farm effectively. The selected article summarises the recommended systematic equipment and approach for implementing an IoT in smart farming. This review's purpose is to identify and discuss the significant devices, cloud platforms, communication protocols, and data processing methodologies. This review highlights an updated technology for agricultural smart management by revising every area, such as crop field data and application utilization. By customizing their technology spending decisions, agriculture stakeholders can better protect the environment and increase food production in a way that meets future global demand. Last but not least, the contribution of this research is that the use of IoT in the agricultural sector helps to improve sensing and monitoring of production, including farm resource usage, animal behavior, crop growth, and food processing. Also, it provides a better understanding of the individual agricultural circumstances, such as environmental and weather conditions, the growth of weeds, pests, and diseases.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129194896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper aims to evaluate the dynamic performance of a five-phase PMSM drive using two different observers: sliding mode (SMO) and model reference adaptive system (MRAS). The design of the vector control for the drive is firstly introduced in details to visualize the proper selection of speed and current controllers’ gains, then the construction of the two observers are presented. The stability check for the two observers are also presented and analyzed, and finally the evaluation results are presented to visualize the features of each sensorless technique and identify the advantages and shortages as well. The obtained results reveal that the de-signed SMO exhibits better performance and enhanced robustness compared with the MRAS under different operating conditions. This fact is approved through the obtained results considering a mismatch in the values of stator resistance and stator inductance as well. Large deviation in the values of estimated speed and rotor position are observed under MRAS, and this is also accompanied with high speed and torque oscillations.
{"title":"Dynamic Performance Analysis of a Five-Phase PMSM Drive Using Model Reference Adaptive System and Enhanced Sliding Mode Observer","authors":"Mahmoud A. Mossa, Hamdi Echeikh, A. Ma’arif","doi":"10.18196/jrc.v3i3.14632","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14632","url":null,"abstract":"This paper aims to evaluate the dynamic performance of a five-phase PMSM drive using two different observers: sliding mode (SMO) and model reference adaptive system (MRAS). The design of the vector control for the drive is firstly introduced in details to visualize the proper selection of speed and current controllers’ gains, then the construction of the two observers are presented. The stability check for the two observers are also presented and analyzed, and finally the evaluation results are presented to visualize the features of each sensorless technique and identify the advantages and shortages as well. The obtained results reveal that the de-signed SMO exhibits better performance and enhanced robustness compared with the MRAS under different operating conditions. This fact is approved through the obtained results considering a mismatch in the values of stator resistance and stator inductance as well. Large deviation in the values of estimated speed and rotor position are observed under MRAS, and this is also accompanied with high speed and torque oscillations.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114324541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Robot manipulator has become an exciting topic for many researchers during several decades. They have investigated the advanced algorithms such as sliding mode control, neural network, or genetic scheme to implement these developments. However, they lacked the integration of these algorithms to explore many potential expansions. Simultaneously, the complicated system requires a lot of computational costs, which is not always supported. Therefore, this paper presents a novel design of switching mechanisms to control the robot manipulator. This investigation is expected to achieve superior performance by flexibly adjusting various strategies for better selection. The Proportional-Integral-Derivative (PID) scheme is well-known, easy to implement, and ensures rapid computation while it might not have much control effect. The advanced interval type-2 fuzzy sliding mode control properly deals with nonlinear factors and disturbances. Consequently, the PID scheme is switched when the tracking error is less than the threshold or is far from the target. Otherwise, the interval type-2 fuzzy sliding mode control scheme is activated to cope with unknown factors. The main contributions of this paper are (i) the recommendation of a suitable switching mechanism to drive the robot manipulator, (ii) the successful integration of the interval type-2 fuzzy sliding mode control to track the desired trajectory, and (iii) the launching of several tests to validate the proposed controller with robot model. From these achievements, it would be stated that the proposed approach is effective in tracking performance, robust in disturbance-rejection, and feasible in practical implementation.
{"title":"Enhancement of the Tracking Performance for Robot Manipulator by Using the Feed-forward Scheme and Reasonable Switching Mechanism","authors":"H. Ngo, Minh Hoang Nguyen","doi":"10.18196/jrc.v3i3.14585","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14585","url":null,"abstract":"Robot manipulator has become an exciting topic for many researchers during several decades. They have investigated the advanced algorithms such as sliding mode control, neural network, or genetic scheme to implement these developments. However, they lacked the integration of these algorithms to explore many potential expansions. Simultaneously, the complicated system requires a lot of computational costs, which is not always supported. Therefore, this paper presents a novel design of switching mechanisms to control the robot manipulator. This investigation is expected to achieve superior performance by flexibly adjusting various strategies for better selection. The Proportional-Integral-Derivative (PID) scheme is well-known, easy to implement, and ensures rapid computation while it might not have much control effect. The advanced interval type-2 fuzzy sliding mode control properly deals with nonlinear factors and disturbances. Consequently, the PID scheme is switched when the tracking error is less than the threshold or is far from the target. Otherwise, the interval type-2 fuzzy sliding mode control scheme is activated to cope with unknown factors. The main contributions of this paper are (i) the recommendation of a suitable switching mechanism to drive the robot manipulator, (ii) the successful integration of the interval type-2 fuzzy sliding mode control to track the desired trajectory, and (iii) the launching of several tests to validate the proposed controller with robot model. From these achievements, it would be stated that the proposed approach is effective in tracking performance, robust in disturbance-rejection, and feasible in practical implementation.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114520764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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