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parallel distributed compensation for improvement of level control in carbonization column for soda production

CONTROL ENGINEERING PRACTICE 2018年 71卷 53-60页

作者： Yordanova, Snejana Slavov, Milen Gueorguiev, Branimir Tech Univ Sofia Fac Automat Sofia 1000 Bulgaria Solvay Sodi SA Devnya Bulgaria

The liquid level control is essential in many production installations but the classic approaches often fail to ensure the desired performance. The reasons are the plant nonlinearity, the level oscillations and the plant model uncertainties. The aim of the present investigation is to improve the existing linear control of the level in the carbonization columns for soda ash production by employing fuzzy logic using parallel distributed compensation (PDC). The design of the PDC is based on a nonlinear Takagi-Sugeno-Kang (TSK) plant model which is derived via genetic algorithms optimization and validated using the data from the real time linear level control. The PDC control performs soft blending of the outputs of several parallel local linear controllers each developed for the local linear plant of the TSK model. The fuzzy rules are represented by ordinary logics conditions to enable the PDC programming and use by an industrial programmable logic controller. The PDC increases the dynamic accuracy in the level control and reduces the frequency of the control oscillations compared to the previous linear control thus prolonging the lifetime of the expensive pneumatic actuators used. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Carbonization column Level control parallel distributed compensation Takagi-Sugeno-ICang plant modelling

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parallel distributed compensation for Voltage Controlled Active Magnetic Bearing System using Integral Fuzzy Model 9

Parallel Distributed Compensation for Voltage Controlled Act...

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9th International Conference on Intelligent Systems (IS)

作者： Tatchum, Martial Gegov, Alexander Jafari, Raheleh Razvarz, Sina Univ Portsmouth Sch Comp Portsmouth Hants England Univ Agder CAIR Grimstad Norway Natl Polytech Inst Dept Control Automat Mexico City DF Mexico

ISBN: (纸本)9781538670972

parallel distributed compensation (PDC) for current-controlled Active Magnetic Bearing System (AMBS) has been quite effective in recent years. However, this method does not take into account the dynamics associated with the electromagnet. This limits the method to smaller scale applications where the electromagnet dynamics can be neglected. Voltage-controlled AMBS is used to overcome this limitation but this comes with serious challenges such as complex mathematical modelling and higher order system control. In this work, a PDC with integral part is proposed for position and input tracking control of voltage controlled AMBS. PDC method is based on nonlinear TakagiSugeno (T-S) fuzzy model. It is shown that the proposed method outperforms the conventional fuzzy PDC. It stabilizes the bearing shaft at any chosen operating point and tracks any chosen smooth trajectory within the air gap with a high external disturbance rejection capability.

关键词： Takagi-Sugeno Active Magnetic Bearings parallel distributed compensation AMB voltage-controlled

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Takagi-Sugeno fuzzy modelling and parallel distributed compensation control of conducting polymer actuators

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2010年第I1期224卷 41-51页

作者： Amiri-M, Amir-A Moavenian, M. Torabi Z, K. Ferdowsi Univ Mashhad Dept Mech Engn Mashhad Iran Univ Kashan Dept Mech Engn Kashan Iran

Conducting polymer actuators are used in a diverse range of applications including biomimetic robots and biomedical devices. In comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult. In addition they also have the disadvantages of creep, hysteresis, and highly uncertain and time-varying dynamics. In this paper a Takagi-Sugeno (T-S) fuzzy model is used to represent the uncertain dynamics of the actuator, and the resulted fuzzy model is validated using experimental data. A system that consists of fuzzy state feedback to a PI controller is designed on the basis of the obtained T-S fuzzy model using the parallel distributed compensation scheme. The sufficient conditions for the existence of such a controller are derived in terms of linear matrix inequalities. The obtained results show that the designed controller can achieve a good control performance despite the existence of uncertain actuator dynamics.

关键词： conducting polymer actuators polypyrrole Takagi-Sugeno fuzzy modelling proportional-integral controller parallel distributed compensation

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Design of new fuzzy sliding mode controller based on parallel distributed compensation controller and using the scalar sign function

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MATHEMATICS AND COMPUTERS IN SIMULATION 2017年 132卷 277-288页

作者： Chaouech, Lotfi Soltani, Moez Dhahri, Slim Chaari, Abdelkader Natl Higher Engn Sch Tunis ENSIT Res Unit Control Monitoring & Safety Syst C3S 5Ave Taha HusseinBP 56 Tunis 1008 Tunisia

This paper presents a new design of fuzzy sliding mode controller based on parallel distributed compensation and using a scalar sign function. The proposed fuzzy sliding mode controller (FSMC) uses the parallel distributed compensation (PDC) scheme to design the state feedback control law. The controller gains are determined in offline mode via linear quadratic regulator technique. Moreover, the fuzzy sliding surface of the system is designed using stable eigenvectors and the scalar sign function in order to overcome the discontinuous switching. This later is obtained by a sign function of the standard FSMC. The advantages of the proposed design are a minimum energy control effort, faster response and zero steady-state error. Finally, the validity of the proposed design strategy is demonstrated through the simulation of a flexible joint robot. (C) 2016 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

关键词： Takagi-Sugeno fuzzy model Sliding mode control parallel distributed compensation Linear quadratic regulator Scalar sign function

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Optimisation of parallel distributed compensation for Real Time Control of Level in Carbonisation Column

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AUTOMATIC CONTROL AND COMPUTER SCIENCES 2020年第5期54卷 379-390页

作者： Yordanova, S. Slavov, M. Gueorguiev, B. Tech Univ Sofia Fac Automat Sofia 1000 Bulgaria Solvay Sodi SA Devnya 9160 Bulgaria

Nonlinear plants with derived Takagi-Sugeno-Kang plant models can be successfully controlled by model-based fuzzy logic controllers built as parallel distributed compensation (PDC). The PDC simple structure of a few fuzzy rules facilitates both the design based on the well-mastered linear control technique and the real time industrial implementation via programmable logic controllers. The novelty of the present research is the optimisation of the PDC tuning parameters in order to improve the performance of the closed-loop system for the control of the liquid level in a carbonisation column for soda ash production. A multiobjective optimisation is carried out off-line using genetic algorithms and simulations. The improvement of the closed-loop system dynamic accuracy and the reduction of the control action variance for saving lifetime of the expensive control valve are assessed via simulation and real time industrial experiments in comparison to the system with the tuned by classical approaches PDC.

关键词： carbonisation column level control genetic algorithms parallel distributed compensation real time experimentation Takagi– Sugeno– Kang model

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Performance-oriented parallel distributed compensation

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2011年第7期348卷 1231-1244页

作者： Seidi, Morteza Markazi, Amir H. D. Iran Univ Sci & Technol Sch Mech Engn Tehran 16844 Iran

The main idea of the original parallel distributed compensation (PDC) method is to partition the dynamics of a nonlinear system into a number of linear subsystems, design a number of state feedback gains for each linear subsystem, and finally generate the overall state feedback gain by fuzzy blending of such gains. A new modification to the original PDC method is proposed here, so that, besides the stability issue, the closed-loop performance of the system can be considered at the design stage. For this purpose, the state feedback gains are not considered constant through the linearized subsystems, rather, based on some prescribed performance criteria, several feedback gains are associated to every subsystem, and the final gain for every subsystem is obtained by fuzzy blending of such gains. The advantage is that, for example, a faster response can be obtained, for a given bound on the control input. Asymptotic stability of the closed loop system is also guaranteed by using the Lyapunov method. To illustrate the effectiveness of the new method, control of a flexible joint robot (FJR) is investigated and superiority of the designed controller over other existing methods is demonstrated. (C) 2010 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： Fuzzy Takagi-Sugeno model parallel distributed compensation Flexible joint robot Stability

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Performance-oriented parallel distributed compensation

Performance-oriented parallel distributed compensation

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3rd International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO-09)

作者： Seidi, Morteza Markazi, Amir H. D. Iran Univ Sci & Technol Sch Mech Engn Tehran 16844 Iran

关键词： Fuzzy Takagi-Sugeno model parallel distributed compensation Flexible joint robot Stability

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H-Infinity Approach Control On Takagi-Sugeno Fuzzy Model For 2-D Overhead Crane System

JOURNAL OF APPLIED SCIENCE AND ENGINEERING

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JOURNAL OF APPLIED SCIENCE AND ENGINEERING 2025年第5期28卷 995-1003页

作者： Nguyen, Manh-Linh Nguyen, Hoang-Phat Nguyen, Thi-Van-Anh Hanoi Univ Sci & Technol Hanoi Vietnam

In this paper, H-infinity control serves as primary strategy in combating external disturbance for overhead crane systems. The overhead crane model consists of a trolley, its cable tethering to a load, which is a highly nonlinear model. Therefore, the goal of moving the trolley while minimizing the oscillation of the load is challenging, particularly in the face of external disturbances. The Takagi-Sugeno (T-S) fuzzy model is employed to delineate the intricacies of the nonlinear overhead crane model. The design of the fuzzy controller relies on the parallel distributed compensation (PDC) concept, focusing on rule-based control within the T-S fuzzy model framework. Linear Matrix Inequalities (LMIs) are formulated based on stability conditions using Lyapunov functions combined with H-infinity performance, facilitating the computation of controller parameters. Subsequently, simulations are conducted to assess the efficacy of the H-infinity control strategy under the influence external disturbances.

关键词： Takagi-Sugeno Fuzzy Model Linear Matrix Inequality parallel distributed compensation H-infinity Reject Disturbance Overhead Crane

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CONTROLLER DESIGN FOR UNMANNED BICYCLES BASED ON TENSOR PRODUCT MODEL TRANSFORMATION AND VARIABLE UNIVERSE FUZZY CONTROL

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL 2025年第2期21卷 447-455页

作者： Wang, Degang Xie, Depeng Zhao, Guoliang Li, Hongxing Dalian Univ Technol Sch Control Sci & Engn 2 Linggong Rd Dalian 116024 Peoples R China Inner Mongolia Univ Coll Elect Informat Engn 235 East Second Ring West Rd Hohhot 010021 Peoples R China

. In this paper, a tensor product variable universe fuzzy (TPVUF) controller is designed for stabilizing the balance of unmanned bicycles. Firstly, the nonlinear exact model of the unmanned bicycles is obtained using Kane's method, and then the tensor product (TP) model transformation technique is used to derive the tensor product model of the unmanned bicycles. Subsequently, the TPVUF controller utilizes the gain calculated by the parallel distributed compensation (PDC) method as fusion coefficients of the error and its rate of change in the variable universe fuzzy (VUF) method. The VUF control method has the ability to quickly converge the error and its rate of change, which improves the response speed of the TPVUF controller. Finally, simulation experiments validate the effectiveness of the designed controller.

关键词： Unmanned bicycles Quasi-linear parametric model Tensor product model transformation parallel distributed compensation Variable universe fuzzy control

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Design of a Decoupling Fuzzy Control Scheme for Omnidirectional Inverted Pendulum Real-World Control

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IEEE ACCESS 2021年 9卷 26083-26092页

作者： Chiu, Chih-Hui Hung, Yao-Ting Peng, Ya-Fu Natl Taiwan Ocean Univ Dept Commun Nav & Control Engn Keelung 20224 Taiwan Chien Hsin Univ Dept Elect Engn Taoyuan 320 Taiwan

In this study, an omnidirectional inverted pendulum (ODIP) is controlled based on a dual Takagi-Sugeno (TS) fuzzy control scheme. The ODIP is a handmade system. It contains two subsystems. The lower mechanism system includes a brushless rim motor, a system platform, batteries, and an encoder. The upper mechanism system is mainly composed of a circuit system, a motor fixed platform, a motor, and a flywheel. The proposed controller combines two fuzzy control approaches for ODIP system control with disturbances and uncertainties. The core of the ODIP operating system is an embedded controller, which executes real-world control processes. Moreover, to address the coupling problem, the shafts of the two motors are oriented in orthogonal directions. Then, the two fuzzy controllers can be designed independently without coupling. In the proposed controller, the Takagi-Sugeno fuzzy model is adopted for fuzzy modeling of the ODIP. The conception of parallel distributed compensation (PDC) is utilized to develop fuzzy control from TS fuzzy models. The format of linear matrix inequalities (LMIs) can formulate sufficient conditions. The main contributions of this study are (1) the implementation of an ODIP and (2) the application of the proposed dual Takagi-Sugeno (TS) fuzzy control scheme for real-time control of the ODIP. Finally, the efficiency of the proposed control scheme is illustrated by the experimental results presented in this study.

关键词： Fuzzy control Control systems Acceleration Mathematical model Couplings Linear matrix inequalities Wheels Omnidirectional inverted pendulum TS~fuzzy control scheme parallel distributed compensation linear matrix inequality Lyapunov function embedded controller

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