Hybrid control of displacement and force in a pneumatic system | |
| Author | Somyot Kaitwanidvilai |
| Call Number | AIT Diss. no.ISE-04-05 |
| Subject(s) | Pneumatic control Robust control |
| Note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Dissertation ; no. ISE-04-05 |
| Abstract | The primary purpose of this dissertation is to develop the control algorithms for a cooperative pneumatic system. Position and force control are investigated to enhance the capability and performance of the system. In the first part of the dissertation, a new approach to design fixed structure robust control for pneumatic servo system is presented. In the conventional Hoo optimal control, the order of the controller is much higher than that of the plant. It is not easy to implement this controller in practical applications. A new algorithm, Genetic Based Fixed-Structure Robust Hoo Loop Shaping Control is proposed. The approach is based on particular concept of Hoo loop shaping. The robust Hoo optimal control problem under a structure-specified controller is solved by genetic searching approach. The evolved controller has simple structure, lower order and still retains the robust and performance specification. In the second part of the dissertation, a force controlled pneumatic actuator is presented. Dynamic model of a force control system depends on the manipulated object. Generally, object's dynamic is unknown and frequently changed. To overcome this problem, in this dissertation, a hybrid adaptive neuro-fuzzy model reference controller (hybrid ANFMRC) is proposed. This approach applies the concept of multimode switching to activate one of the two controllers, bang-bang controller and adaptive neuro-fuzzy model reference controller (ANFMRC). Hybrid ANFMRC can adopt the advantages of each controller and yield better control performance. In the third part of the dissertation, master slave coordination scheme is investigated. Internal force control is applied to coordinate between the systems. Experimental and simulation results in this dissertation validate the efficiency of the proposed algorithms. |
| Year | 2004 |
| Corresponding Series Added Entry | Asian Institute of Technology. Dissertation ; no. ISE-04-05 |
| Type | Dissertation |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.; Phan Minh Dung;Hung, John Y.; |
| Scholarship Donor(s) | Royal Thai Government (RTG); |
| Degree | Thesis (Ph.D.) - Asian Institute of Technology, 2004 |