| 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 |
