Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

doi:10.1007/s11633-021-1280-5

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	Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator
	Satyam Paul 4
刊名	International Journal of Automation and Computing
	2021
卷号	18 期号:4 页码:568-580
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
ISSN号	1476-8186
DOI	10.1007/s11633-021-1280-5
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45064]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Regional Innovational Center for Electrical Engineering, Faculty of Electrical Engineering, University of West Bohemia, Pilsen 30100, Czech Republic 2.Department of Applied Physics and Electronics, Umea University, Umea 90187, Sweden 3.Centre for Applied Autonomous Sensor Systems (AASS), Orebro University, Orebro 70281, Sweden 4.Department of Engineering Design and Mathematics, University of the West of England, Bristol BS16 1QY, UK
推荐引用方式 GB/T 7714	Satyam Paul. Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator[J]. International Journal of Automation and Computing,2021,18(4):568-580.
APA	Satyam Paul.(2021).Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator.International Journal of Automation and Computing,18(4),568-580.
MLA	Satyam Paul."Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator".International Journal of Automation and Computing 18.4(2021):568-580.