Comparison of Position Control of a Gyroscopic Inverted Pendulum Using PID, Fuzzy Logic and Fuzzy PID controllers

Rabah, Mohammed,Rohan, Ali,Kim, Sung-Ho Korean Institute of Intelligent Systems 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.2

This paper presents the modeling and control of a gyroscopic inverted pendulum. Inverted pendulum is used to realize many classical control problems. Its dynamics are similar to many real-world systems like missile launchers, human walking and many more. The control of this system is challenging as it's highly unstable which will tend to fall on either side due to the gravitational force. In this paper, we are going to stabilize the gyroscopic inverted pendulum using PID controller, fuzzy logic controller and fuzzy PID controller. These controllers will be compared to determine the performance and to distinguish which one has the better response. Experiments and simulations are conducted to examine the different controllers and results are presented under different disturbance scenarios.

Design of Fuzzy-PID Controller for Quadcopter Trajectory-Tracking

Mohammed Rabah,Ali Rohan,Yun-Jong Han,Sung-Ho Kim 한국지능시스템학회 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.3

Trajectory-tracking is an attractive application for quadcopters and a very challenging, complicated field of research due to the complex dynamics of a quadcopter. Various control algorithms have been developed to stabilize the quadcopter over a certain trajectory since it is hard for a quadcopter to follow a certain trajectory. In this paper, a fuzzy-PID controller is designed to stabilize the quadcopter over a certain trajectory using the speed information as an input. The proposed controller is compared to a PD controller and a fuzzy logic controller (FLC) to distinguish which has a better performance using MATLAB/Simulink. The simulation results demonstrate that under different trajectories the fuzzy-PID controller shows a better response than the other two controllers.

Comparison of Position Control of a Gyroscopic Inverted Pendulum Using PID, Fuzzy Logic and Fuzzy PID controllers

Mohammed Rabah,Ali Rohan,Sung-Ho Kim 한국지능시스템학회 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.2

This paper presents the modeling and control of a gyroscopic inverted pendulum. Inverted pendulum is used to realize many classical control problems. Its dynamics are similar to many real-world systems like missile launchers, human walking and many more. The control of this system is challenging as it’s highly unstable which will tend to fall on either side due to the gravitational force. In this paper, we are going to stabilize the gyroscopic inverted pendulum using PID controller, fuzzy logic controller and fuzzy PID controller. These controllers will be compared to determine the performance and to distinguish which one has the better response. Experiments and simulations are conducted to examine the different controllers and results are presented under different disturbance scenarios.

Autonomous Vision-based Target Detection and Safe Landing for UAV

Mohammed Rabah,Ali Rohan,Muhammad Talha,남강현,김성호 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6

Target detection is crucial for many applications of Unmanned Aerial Vehicles (UAVs) such as search and rescue, object transportation, object detection, inspection, and mapping. One of the considerable applications of target detection is the safe landing of UAV to the drone station for battery charging and its maintenance. For this, vision-based target detection methods are utilized. Generally, high-cost cameras and expensive CPU’'s were used for target detection. With the recent development of Raspberry Pi (RPi), it is possible to use the embeddedsystem with cheap price for such applications. In the current research, RPi based drone target detection and safe landing system are proposed with the integration of PID controller for target detection, and Fuzzy Logic controller for safe landing. The proposed system is equipped with a USB camera which is connected to RPi for detecting the target and a laser rangefinder (LIDAR) for measuring the distance for safe landing. To verify the performance of the developed system, a practical test bench based on a quadcopter and a target drone station is developed. Severalexperiments were conducted under different scenarios. The result shows that the proposed system works well for the target finding and safe landing of the quadcopter.

고 중량 드론의 타겟 트랙킹을 위한 제어기의 설계

조국현,Mohammed Rabah,김성호,이연석 제어로봇시스템학회 2019 제어로봇시스템학회 각 지부별 자료집 Vol.2019 No.1

An Integrated Fault Detection and Identification System for Permanent Magnet Synchronous Motor in Electric Vehicles

Ali Rohan,Mohammed Rabah,Sung Ho Kim 한국지능시스템학회 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.1

This paper proposes an efficient and integrated fault detection and identification system for power converters and permanent magnet synchronous motor in electric vehicles. Switching faults of power converters (single, double and triple switching faults), electrical and mechanical faults of the permanent magnet synchronous motor (bearing fault, stator electrical faults) are considered. Fault detection is done using Clarke transformed (α-β) three-phase current analysis. Features are extracted from the current signals and artificial neural network (ANN) is used for the fault identification. Using motor current signature analysis and by selecting simple and suitable features, the system can detect and distinguish between overall faults of power converters and permanent magnet synchronous motor in an electric vehicle; it requires no complex calculations. The proposed system is designed in MATLAB/Simulink. The system is tested under different fault scenarios and performance is evaluated. The simulation results have proved that the proposed system can detect and identify overall faults of power converters and permanent magnet synchronous motor easily and effectively with no need for complex calculations and techniques.

Adsorption of Cr(VI) from Aqueous Solutions Using Algerian Pinus Halepensis Tannin Foam

Zeyneb Hamadi,Rabah Chaid,Mohammed Kebir,Siham Amirou,Hisham Essawy,Antonio Pizzi 한국고분자학회 2020 폴리머 Vol.44 No.4

In this study, new adsorbent tannin foam was prepared from Algerian natural pinus halepensis tannin (APTF). The prepared material has been used as an efficient and environmentally friendly adsorbent to remove chromium (Cr(VI)), which is considered as the most toxic pollutant in wastewater. The different features of the adsorbent in terms of the structural and morphological characteristics were studied. The impact of different factors on the adsorption process, such as pH, adsorbent mass, initial Cr(VI) concentration, and temperature, was investigated. The data obtained from the Cr(VI) adsorption revealed an improvement of the removal efficiency with increasing the adsorbent dose, the pH had a notable effect on Cr(VI) adsorption capacity, whereas the effectiveness decreased by rising the initial metal concentration. In addition, it was observed that adsorption efficiency enhanced with increasing temperature, indicating that the adsorption was endothermic and spontaneous in nature. Moreover, the results were best represented by the pseudo-second order kinetic model and the Langmuir isotherm model (qm = 400 mg·g<SUP>-1</SUP>) at 293 °K and pH ~2.

Improvement of the amplification gain for a propulsion drives of an electric vehicle with sensor voltage and mechanical speed control

Karim Negadi,Mohamed Boudiaf,Rabah Araria,Lazreg Hadji 국제구조공학회 2022 Smart Structures and Systems, An International Jou Vol.29 No.5

In this paper, an electric vehicle drives with efficient control and low cost hardware using four quadrant DC converter with Permanent Magnet Direct Current (PMDC) motor fed by DC boost converter is presented. The main idea of this work is to improve the energy efficiency of the conversion chain of an electric vehicle by inserting a boost converter between the battery and the four quadrant-DC motor chopper assembly. Consequently, this method makes it possible to maintain the amplification gain of the 4 quadrant chopper constant regardless of the battery voltage drop and even in the presence of a fault in the battery. One of the most important control problems is control under heavy uncertainty conditions. The higher order sliding mode control technique is introduced for the adjustment of DC bus voltage and mechanical motor speed. To implement the proposed approach in the automotive field, experimental tests were carried out. The performances obtained show the usefulness of this system for a better energy management of an electric vehicle and an ideal control under different operating conditions and constraints, mostly at nominal operation, in the presence of a load torque, when reversing the direction of rotation of the motor speed and even in case of battery chamber failure. The whole system has been tested experimentally and its performance has been analyzed.

Design of Fuzzy Logic Based Controller for Gyroscopic Inverted Pendulum System

Rohan, Ali,Rabah, Mohammed,Nam, Kang-Hyun,Kim, Sung Ho Korean Institute of Intelligent Systems 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.1

Anti-rolling gyro systems (ARG) were introduced long time ago for reducing the roll motion of ships caused by the ocean waves. These systems are composed of gyroscopic stabilizer, which typically controls the roll motion by generating some counteracting roll stabilizing torque. These systems are very sensitive to the outer disturbances and require robust control mechanism to maintain the stable state. In this work, gyroscopic inverted pendulum based on gyroscopic stabilizer is considered to develop control technique for reducing the roll motion effect of the system. The gyroscopic inverted system was modeled in MATLAB/Simulink and fuzzy logic based control technique was developed. The proposed control technique was implemented and tested with the practical system. Furthermore, the performance of the proposed system is compared with a typical PD type controller. Simulation and experimental results show that the proposed system performs well and maintains a stable state under various disturbances.

An Integrated Fault Detection and Identification System for Permanent Magnet Synchronous Motor in Electric Vehicles

Rohan, Ali,Rabah, Mohammed,Kim, Sung Ho Korean Institute of Intelligent Systems 2018 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.18 No.1

This paper proposes an efficient and integrated fault detection and identification system for power converters and permanent magnet synchronous motor in electric vehicles. Switching faults of power converters (single, double and triple switching faults), electrical and mechanical faults of the permanent magnet synchronous motor (bearing fault, stator electrical faults) are considered. Fault detection is done using Clarke transformed (${\alpha}-{\beta}$) three-phase current analysis. Features are extracted from the current signals and artificial neural network (ANN) is used for the fault identification. Using motor current signature analysis and by selecting simple and suitable features, the system can detect and distinguish between overall faults of power converters and permanent magnet synchronous motor in an electric vehicle; it requires no complex calculations. The proposed system is designed in MATLAB/Simulink. The system is tested under different fault scenarios and performance is evaluated. The simulation results have proved that the proposed system can detect and identify overall faults of power converters and permanent magnet synchronous motor easily and effectively with no need for complex calculations and techniques.