Deep neural fuzzy based fractional order PID controller for level control applications in quadruple tank system

This research work focus on level control in quadruple tank systems based on proposed Deep Neural Fuzzy based Fractional Order Proportional Integral Derivative (DN-FFOPID) controller system. This is used for controlling the liquid level in these non- linear cylindrical systems. These model helps in identifying the dynamics of the tank system which gives the control signal feed forwarded from the reference liquid level. But, it fails to minimize the error and the system is also subjected to external disturbances. Hence, to minimize this drawback a novel controller must be introduced in it. The proposed Deep Neural model is a six layered network which are optimized with the back-propagation algorithm. It effectively trains the system thus reducing the steady state error, offset model errors and unmeasured disturbances. This neural intelligent system maintains the liquid level which fulfils the required design criteria like time constant, no overshoot, less rise time and less settling time, which can be applied to various fields. MATLAB/simulink at FOMCON toolbox is used to perform the simulation. Real time liquid control experimental results and simulation results are demonstrated which proves the effectiveness and feasibility of the proposed methods for the quadruple tank system which finds applications in effluent treatment, petrochemical, pharmaceutical and aerospace fields.

Advanced Adaptive Fault Diagnosis and Tolerant Control for Robot Manipulators

In this paper, an adaptive Takagi–Sugeno (T–S) fuzzy sliding mode extended autoregressive exogenous input (ARX)–Laguerre proportional integral (PI) observer is proposed. The proposed T–S fuzzy sliding mode extended-state ARX–Laguerre PI observer adaptively improves the reliability, robustness, estimation accuracy, and convergence of fault detection, estimation, and identification. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy sliding mode estimation technique is introduced. The sliding surface slope gain is significant to improve the system’s stability, but the sliding mode technique increases high-frequency oscillation (chattering), which reduces the precision of the fault diagnosis and tolerant control. A fuzzy procedure using a sliding surface and actual output position as inputs can adaptively tune the sliding surface slope gain of the sliding mode fault-tolerant control technique. The proposed robust adaptive T–S fuzzy sliding mode estimation extended-state ARX–Laguerre PI observer was verified with six degrees of freedom (DOF) programmable universal manipulation arm (PUMA) 560 robot manipulator, proving qualified efficiency in detecting, isolating, identifying, and tolerant control for faults inherent in sensors and actuators. Experimental results showed that the proposed technique improves the reliability of the fault detection, estimation, identification, and tolerant control.