Fuzzy PD Cascade Controller Design for Ball and Beam System Based on an Improved ARO Technique
Publish place: Journal of Computer and Robotics، Vol: 5، Issue: 1
Publish Year: 1390
Type: Journal paper
Language: English
View: 502
This Paper With 6 Page And PDF Format Ready To Download
- Certificate
- I'm the author of the paper
Export:
Document National Code:
JR_JCR-5-1_001
Index date: 13 January 2018
Fuzzy PD Cascade Controller Design for Ball and Beam System Based on an Improved ARO Technique abstract
The ball and beam system is one of the most popular laboratory setups for control education. In this paper, we design a fuzzy PD cascade controller for a ball and beam system using Asexual Reproduction Optimization (ARO) technique. The ball & beam system consists of a servo motor, a grooved beam, and a rolling ball. This system utilizes a servo motor to control ball’s position on the beam. Changing the angle of servo motor results in the movement of the beam and, subsequently, the ball rolling on it. We designed a fuzzy PD cascade and a PD cascade controller scheme which consists of the two controller loops. The first (outer) controller and the second (inner) controller are organized in a cascaded construction.
Fuzzy PD Cascade Controller Design for Ball and Beam System Based on an Improved ARO Technique Keywords:
Fuzzy PD Cascade Controller Design for Ball and Beam System Based on an Improved ARO Technique authors
Mojtaba Kazemi
Faculty of Electrical and Computer Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
Jalal Najafi
Faculty of Electrical and Computer Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
Mohamad Bagher Menhaj
Department of Electrical Engineering, Amirkabir University, Tehran, Iran