Yıl 2017, Cilt 21, Sayı 3, Sayfalar 866 - 872 2017-11-28

Sliding Mode Based Self-Tuning PID Controller for Second Order Systems

Alper BAYRAK [1]

369 159

In this paper, a sliding mode based self-tuning PID controller is proposed for uncertain second order systems. While developing the controller, it is assumed that the system model has a part which contains nonlinear terms similar to PID structure which is a new approach in the literature. The controller and update rules for controller parameters are obtained from Lyapunov stability analysis. The proposed controller with update rule is experienced on an experimental 2-DOF helicopter which is also known as Twin-Rotor Multi-Input Multi-Output System (TRMS). From experiments, it was seen that the PID parameter update rules run satisfactorily and, in parallel with this, the controller achieved the control objective by providing the system track the desired trajectory.
Self-Tuning PID controller, Sliding mode controller; Second order systems
  • [1] Wanfeng S, Shengdun Z and Yajing S. 2008. Adaptive PID controller based on online LSSVM identification. In IEEE ASME Inter. Conf. on Advanced Intelligent Mechatronics. 2-5 July, Xian, China, 694–698.
  • [2] Astrom KJ and Hagglund T. 1995. PID Controllers: Theory, Design and Tuning. NC, USA: Instrument Society of America.
  • [3] An S, Yuan S and Li H. 2016. Self-tuning of PID controllers design by adaptive interaction for quadrotor UAV. In IEEE Chinese Guidance, Navigation and Control Conference. 12-14 Aug, Nanjing, China, 1547–1552.
  • [4] Lu J, Yang C, Peng B et al. 2014. Self-tuning pid control scheme with swarm intelligence based on support vector machine. In Proc. of IEEE Inter. Conf. on Mechatronics and Automation. 3-6 Aug, Tianjin, China, 1554–1558.
  • [5] Jiang W and Jiang X. 2012. Design of an intelligent temperature control system based on the fuzzy selftuning PID. Procedia Engineering, 43, 307–311.
  • [6] Zheng J, Zhao S and Wei S. 2009. Application of selftuning fuzzy PID controller for a SRM direct drive volume control hydraulic press. Control Engineering Practice, 17(12), 1398–1404.
  • [7] Li C and Lian J. 2007. The application of immune genetic algorithm in PID parameter optimization for level control system. In IEEE Inter. Conf. on Automation and Logistics. 18-21 Aug, Jinan, China, 782–786.
  • [8] Sreekanth P and Hari A. 2016. Genetic algorithm based self tuning regulator for ball and hoop system. In Conf. on Emerging Devices and Smart Systems. 4-5 Mar. Namakkal, India, 147–152.
  • [9] Na, M. G. 2001. Auto-tuned PID controller using a model predictive control method for the steam generator water level. IEEE Trans on Nuclear Science, 48(5), 1664–1671.
  • [10] Fan, J., Zhong, J., Zhao, J. Zhu, Y. 2015. BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle. Technology and Health Care, 23(s2) S231–S238.
  • [11] Gundogdu T and Komurgoz G. 2013. Adaptive pid controller design by using adaptive interaction approach theory. In Inter. Conf. on Electric Power and Energy Conversion Systems. 2-4 Oct. Istanbul, Turkey, 1–5.
  • [12] Howell M and Best M. 2000. On-line PID tuning for engine idle-speed control using continuous action reinforcement learning automata. Control Engineering Practice, 8(2), 147–154.
  • [13] Bobal V, Sysel M and Dostal P. 2002. Self-tuning PID controller using delta-model identification. Inter. J. Of Adaptive Control And Signal Processing, 16(6), 455–471.
  • [14] Malekzadeh M, Sadati J and Alizadeh M. 2016. Adaptive pid controller design for wing rock suppression using self-recurrent wavelet neural network identifier. Evolving Systems, 7(4), 267–275.
  • [15] Shih, M.C. and Tseng, S.I. 1994. Pneumatic servocylinder position control by PID-self-tuning controller. JSME inter journal Ser C, Dynamics, control, robotics, design and manufacturing; 37(3): 565–572.
  • [16] Dong, J. and Mo, B. 2013. The adaptive PID controller design for motor control system with backlash. In Inter. Conf. on Intelligent Control and Information Processing. 9-11 June, Beijing, China, 59–63.
  • [17] Chamsai T, Jirawattana P and Radpukdee T. 2015. Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking Control of an SI Engine. Mathematical Problems in Engineering, 2015(2015), Article ID 510738.
  • [18] Chang, W.D. and Yan, J.J. 2005. Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems. Chaos, Solitons & Fractals, 26, 167–175.
  • [19] Kuo, T.C., Huang Y.J., Chen C.Y., Chang, C.H. 2008. Adaptive sliding mode control with pid tuning for uncertain systems. Engineering Letters, 16(3), 311–315.
  • [20] Huang, H., Roan, M. and Jeng, J. 2002. On-line adaptive tuning for PID controllers. IEE Proceedings-Control Theory And Applications, 149(1), 60–67.
  • [21] Yu, E. and Hu, Y. 2016. A novel modified pid controller applied to temperature control with self-tuning ability. In Chinese Control and Decision Conference, 28-30 May., Yinchuan, China, 7025–7029.
  • [22] Slotine JJE and Li W. 1991. Applied Nonlinear Control. Englewood Cliffs: NJ:Prentice Hall.
Konular
Dergi Bölümü Makaleler
Yazarlar

Yazar: Alper BAYRAK

Bibtex @ { sdufenbed382243, journal = {Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi}, issn = {}, eissn = {1308-6529}, address = {Süleyman Demirel Üniversitesi}, year = {2017}, volume = {21}, pages = {866 - 872}, doi = {10.19113/sdufbed.07565}, title = {Sliding Mode Based Self-Tuning PID Controller for Second Order Systems}, key = {cite}, author = {BAYRAK, Alper} }
APA BAYRAK, A . (2017). Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 21 (3), 866-872. Retrieved from http://dergipark.gov.tr/sdufenbed/issue/34610/382243
MLA BAYRAK, A . "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems". Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi 21 (2017): 866-872 <http://dergipark.gov.tr/sdufenbed/issue/34610/382243>
Chicago BAYRAK, A . "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems". Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi 21 (2017): 866-872
RIS TY - JOUR T1 - Sliding Mode Based Self-Tuning PID Controller for Second Order Systems AU - Alper BAYRAK Y1 - 2017 PY - 2017 N1 - DO - T2 - Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi JF - Journal JO - JOR SP - 866 EP - 872 VL - 21 IS - 3 SN - -1308-6529 M3 - UR - Y2 - 2018 ER -
EndNote %0 Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi Sliding Mode Based Self-Tuning PID Controller for Second Order Systems %A Alper BAYRAK %T Sliding Mode Based Self-Tuning PID Controller for Second Order Systems %D 2017 %J Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi %P -1308-6529 %V 21 %N 3 %R %U
ISNAD BAYRAK, Alper . "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems". Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi 21 / 3 (Kasım 2017): 866-872.