Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator  

作　　者：Satyam Paul Ajay Arunachalam Davood Khodadad Henrik Andreasson Olena Rubanenko 

机构地区：[1]Department of Engineering Design and Mathematics,University of the West of England,Bristol BS161QY,UK [2]Centre for Applied Autonomous Sensor Systems(AASS),Orebro University,Orebro 70281,Sweden [3]Department of Applied Physics and Electronics,Umea University,Umea 90187,Sweden [4]Regional Innovational Center for Electrical Engineering,Faculty of Electrical Engineering,University of West Bohemia,Pilsen 30100,Czech Republic

出　　处：《International Journal of Automation and computing》2021年第4期568-580,共13页国际自动化与计算杂志（英文版）

摘　　要：The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential(PID) control with type-2 fuzzy logic(T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator(TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID(T1-F-PID) controller.

关 键 词：Proportional-integral-differential(PID)controller fuzzy logic precision agriculture vibration control stability analysis modular manipulator agricultural robot computer numerical control(CNC)farming 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程] S220[农业科学—农业机械化工程]