This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Series Fuzzy PID with Anti-windup Controller for Intelligent Vehicle
Technical Paper
2020-01-0113
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
A series fuzzy PID controller with anti-windup scope (SFPCA) is proposed in this paper to address saturation nonlinear problem and control disturbance caused by uncertainty of actuator model. In order to achieve novel dynamic and steady-state performance, the fuzzy controller and PID controller are fused into series, which realizes excellent dynamic performance of fast response and low overshoot like pure fuzzy controller at the initial response stage, and the excellent steady-state performance of stable and no static difference like PID control at the later response stage. The Hurwitz low is employed to configure PID parameters and 49 rules are designed for fuzzy controller. Since the input of the actuator could not be infinite, the actuator being saturated for a long time could reduce the stability of system and, even lead to irreversible damage. Moreover, after exiting the saturation state, it is difficult to quickly recover to the fast and stable response state of the original system. Therefore, an anti-windup scope is meticulously developed to limit the system input to a reasonable range under the saturation state, and, in the unsaturated state, the original Fuzzy PID control is restored. In order to verify the performance of the algorithm, four comparison algorithms were adopted, including pure PD, pure PID, pure Fuzzy and series Fuzzy PID controller (SFPC), and two typical commands like step and sine are employed as desired signals. The experimental results show that the SFPCA has more excellent dynamic and steady performance than pure PD, pure PID, pure Fuzzy and series Fuzzy PID controller (SFPC).
Recommended Content
Technical Paper | Application of Self-Tuning Control |
Technical Paper | Fuzzy Logic Controller Implementation in ANSI C |
Technical Paper | Autonomous Vehicle Control System Using an Image Processing Sensor |
Authors
Citation
Luo, C., "Series Fuzzy PID with Anti-windup Controller for Intelligent Vehicle," SAE Technical Paper 2020-01-0113, 2020, https://doi.org/10.4271/2020-01-0113.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 | ||
Unnamed Dataset 2 | ||
Unnamed Dataset 3 |
Also In
References
- Katrakazas , C. , Quddus , M. , Chen , W.H. et al. Real-Time Motion Planning Methods for Autonomous On-Road Driving: State-of-the-Art and Future Research Directions Transportation Research Part C Emerging Technologies 60 416 442 2015
- Paden , B. , Cap , M. , Yong , S.Z. et al. A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles IEEE Transactions on Intelligent Vehicles 1 1 33 55 2016
- Rigatos , G. and Siano , P. A New Nonlinear H-infinity Feedback Control Approach to the Problem of Autonomous Robot Navigation Intelligent Industrial Systems 1 3 179 186 2015
- Rigatos , G. , Siano , P. , and Cecati , C. An H-Infinity Feedback Control Approach for Three-Phase Voltage Source Converters The 40th Annual Conference of IEEE Industrial Electronics Society (IECON 2014), IEEE 2014
- Dadras , S. Path Tracking Using Fractional Order Extremum Seeking Controller for Autonomous Ground Vehicle SAE Technical Paper 2017-01-0094 2017 https://doi.org/10.4271/2017-01-0094
- Dadras , S. , Dadras , S. , and Winstead , C. Resilient Control Design for Vehicular Platooning in an Adversarial Environment 2019 American Control Conference (ACC), IEEE 2019 533 538
- Ang , K.H. , Chong , G. , and Li , Y. PID Control System Analysis, Design, and Technology IEEE Transactions on Control Systems Technology 13 4 559 576 2005
- Kandiban , R. and Arulmozhiyal , R. Speed Control of BLDC Motor Using Adaptive Fuzzy PID Controller Procedia Engineering 38 2012
- Kushwah , M. and Patra , A. Tuning PID Controller for Speed Control of DC Motor Using Soft Computing Techniques-A Review Advance in Electronic and Electric Engineering 4 2 141 148 2014
- Sharma , K. and Palwalia , D.K. A Modified PID Control with Adaptive Fuzzy Controller Applied to DC Motor 2017 International Conference on Information, Communication, Instrumentation and Control (ICICIC) IEEE 2017 1 6
- Dai , A. , Zhou , X. , and Liu , X. Design and Simulation of a Genetically Optimized Fuzzy Immune PID Controller for a Novel Grain Dryer IEEE Access 5 14981 14990 2017
- Bhimte , R. , Bhole , K. , and Shah , P. Fractional Order Fuzzy PID Controller for a Rotary Servo System 2018 2nd International Conference on Trends in Electronics and Informatics (ICOEI) IEEE 2018 538 542
- Allagui , N.Y. , Derbel , N. , and Fuzzy , P.I. Controller for Mobile Robot Navigation and Tracking 2018 15th International Multi-Conference on Systems, Signals & Devices (SSD), IEEE 2018 1178 1183
- Wang , T.Y. and Chang , C.D. Hybrid Fuzzy PID Controller Design for a Mobile Robot 2018 IEEE International Conference on Applied System Invention (ICASI), IEEE 2018 650 653
- Jin , Y. , Wang , H. , and Wang , C. Maximum Power Point Tracking of Photovoltaic System Based on Fuzzy-PI Combined Controller 2017 Chinese Automation Congress (CAC), IEEE 2017 6886 6891
- De Maity , R.R. , Mudi , R.K. , and Dey , C. Real-Time Evaluation of an Interval Type-2 Fuzzy PID Controller on Servo Position Control System 2018 Fifth International Conference on Emerging Applications of Information Technology (EAIT) IEEE 2018 1 4
- Dwiono , W. , Taufiq , A.J. , and Winarso , W. Simple Implementation of Fuzzy Controller for Low Cost Microcontroller 2019 International Conference of Artificial Intelligence and Information Technology (ICAIIT) IEEE 2019 26 30
- Moghadam , N. , Shabaninia , F. , and Abbasi , H. Superiority of Using Interval Type-2 Fuzzy PID Controller over the Conventional Type-1 Fuzzy Controller in a Chlorine Flow Control System 2017 5th Iranian Joint Congress on Fuzzy and Intelligent Systems (CFIS), IEEE 2017 128 135
- Zaccarian , L. and Teel , A.R. Modern Anti-Windup Synthesis: Control Augmentation for Actuator Saturation Princeton University Press 2011
- Kapoor , N. and Daoutidis , P. An Observer-Based Anti-Windup Scheme for Non-Linear Systems with Input Constraints International Journal of Control 72 1 18 29 1999
- Xiong , H. , Yi , J. , Fan , G. et al. Anti-Crosswind Autolanding of UAVs Based on Active Disturbance Rejection Control Guidance Navigation, and Control Conference 2010 7734
- Oveisi , A. and Nestorović , T. Active Vibration Control Based on Static Anti-windup Compensator and Unknown Input Observation IFAC-PapersOnLine 50 1 13354 13359 2017
- Smith , J. , Su , J. , Liu , C. et al. Disturbance Observer Based Control with Anti-Windup Applied to a Small Fixed Wing UAV for Disturbance Rejection Journal of Intelligent & Robotic Systems 88 2-4 329 346 2017
- da Silva , L.R. , Flesch , R.C.C. , Normey-Rico , J.E. Analysis of Anti-Windup Techniques in PID Control of Processes with Measurement Noise IFAC-PapersOnLine 2018 51 4 948 953
- Turner , M.C. and Kerr , M. A Nonlinear Modification for Improving Dynamic Anti-Windup Compensation European Journal of Control 41 44 52 2018
- Sierociuk , D. and Malesza , W. Fractional Variable Order Anti-Windup Control Strategy Bulletin of the Polish Academy of Sciences Technical Sciences 66 4 2018
- Qi , W. , Park , J.H. , Cheng , J. et al. Anti-Windup Design for Stochastic Markovian Switching Systems with Mode-Dependent Time-Varying Delays and Saturation Nonlinearity Nonlinear Analysis: Hybrid Systems 26 201 211 2017
- Tavernini , D. , Metzler , M. , Gruber , P. et al. Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control[J] IEEE Transactions on Control Systems Technology 27 4 1438 1451 2018
- Zakaria , M.I. , Husain , A.R. , Mohamed , Z. et al. Steering Control of a Steer-by-Wire System Vehicle with Time Delay and Actuator Saturation via Anti-Windup Controller Engineering and Applied Science Research 46 1 72 78 2019