TY - JOUR
T1 - Intelligent Position Control for Intelligent Pneumatic Actuator with Ball-Beam (IPABB) System
AU - Muftah, Mohamed Naji
AU - Faudzi, Ahmad Athif Mohd
AU - Sahlan, Shafishuhaza
AU - Mohamaddan, Shahrol
N1 - Funding Information:
The research has been carried out under the program Research Excellence Consortium (JPT (BPKI) 1000/016/018/25 (57)) with the title Consortium of Robotics Technology for Search and Rescue Operations (CORTESRO) provided by the Ministry of Higher Education Malaysia (MOHE). The authors also acknowledge Universiti Teknologi Malaysia (UTM) under vote no (4L930) for the facilities and support to complete this research.
Publisher Copyright:
© 2022 by the authors.
PY - 2022/11
Y1 - 2022/11
N2 - A pneumatic actuator system is considered extremely nonlinear, making accurate position control of this actuator difficult to obtain. In this article, a novel cascade fractional-order PID (CFOPID) controller for the intelligent pneumatic actuator (IPA) positioning system utilizing particle swarm optimization (PSO) is presented. The pneumatic system was modeled using the system identification (SI) technique. To demonstrate the effectiveness of the CFOPID controller, a comparison to the FOPID controller is performed based on the rise, settling, and peak times, peak overshoot, and integral of square error (ISE). From the results obtained, the proposed CFOPID controller provides superior control over the FOPID controller. For the application of the position controller, the proposed system incorporates an intelligent pneumatic actuated ball and beam (IPABB) system. The mathematical model of the system was developed and validated through a simulation utilizing a PID (outer loop) and CFOPID controller (inner loop). The suggested controller’s accuracy and robustness have been studied by a comparative examination of the results obtained utilizing the proposed and other prior controllers on the same system. The results indicate that the intelligent pneumatic actuator, when coupled with a CFOPID controller, is capable of controlling the positioning of the ball and beam system.
AB - A pneumatic actuator system is considered extremely nonlinear, making accurate position control of this actuator difficult to obtain. In this article, a novel cascade fractional-order PID (CFOPID) controller for the intelligent pneumatic actuator (IPA) positioning system utilizing particle swarm optimization (PSO) is presented. The pneumatic system was modeled using the system identification (SI) technique. To demonstrate the effectiveness of the CFOPID controller, a comparison to the FOPID controller is performed based on the rise, settling, and peak times, peak overshoot, and integral of square error (ISE). From the results obtained, the proposed CFOPID controller provides superior control over the FOPID controller. For the application of the position controller, the proposed system incorporates an intelligent pneumatic actuated ball and beam (IPABB) system. The mathematical model of the system was developed and validated through a simulation utilizing a PID (outer loop) and CFOPID controller (inner loop). The suggested controller’s accuracy and robustness have been studied by a comparative examination of the results obtained utilizing the proposed and other prior controllers on the same system. The results indicate that the intelligent pneumatic actuator, when coupled with a CFOPID controller, is capable of controlling the positioning of the ball and beam system.
KW - ball-beam system
KW - cascade fractional-order proportional–integral–derivative
KW - intelligent pneumatic actuator
KW - particle swarm optimization
KW - system identification technique
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U2 - 10.3390/app122111089
DO - 10.3390/app122111089
M3 - Article
AN - SCOPUS:85141866065
SN - 2076-3417
VL - 12
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
IS - 21
M1 - 11089
ER -