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ABSTRACT
An effort is made to design the fuzzy proportional-derivative (PD) plus I controller for a nonlinear cruise control system in automobiles, which provides adaptive capability in set-point tracking performance. A cruise control system has been considered as a nonlinear first order plus delay time model to exhibit the control behaviour involved in both conventional proportional-integral-derivative (PID) control and fuzzy control. The paper demonstrates the design of fuzzy PD plus I controller including comparative investigation with control structures like PID, I – PD, and PI – D using Simulink modelling. Real-time implementation has been carried out on a robotic prototype using Arduino UNO micro-controller. Based on the performance measures such as integral absolute error (IAE) and integral squared error (ISE), the proposed fuzzy PD plus I structure shows superior performance on servo and regulatory problems in the cruise control system. This control structure avoids integral windup issues and to suppress the derivative kick in the cruise control system.
DISCLOSURE STATEMENT
No potential conflict of interest was reported by the authors.
Additional information
Notes on contributors
G. Prabhakar
G. Prabhakar was born in Ramanathapuram, Tamilnadu, India, in 1988. He received the BE degree in electronics and communication engineering from Anna University, Chennai, Tamilnadu, in 2009 and the MTech degree in embedded systems from Hindustan University, Chennai, Tamilnadu, in 2011. He is currently working towards the PhD degree in the Department of Electrical and Electronics Engineering, Anna University, Chennai, Tamil Nadu. He has published 10 technical papers in refereed international journals, 2 books in reputed publications, and 2 technical papers in IEEE international conference proceedings. He worked as a DSP design engineer for two years in Venmsol Technologies, Chennai. He is currently an assistant professor in the Department of Electrical and Electronics Engineering, Syed Ammal Engineering College, Ramanathapuram, Tamil Nadu. His areas of interest are Embedded Systems, Cyber Physical Systems, Nonlinear Control Systems, Mechatronics and Image & Signal processing. He also acts as a referee in Science and Engineering Research Board, Department of Science and Technology.
E-mail: [email protected]
S. Selvaperumal
S. Selvaperumal was born in Virudhunagar, Tamilnadu, India, in 1977. He received the BE degree in electrical and electronics engineering and the ME degree in power electronics and drives both from Anna University, Chennai, Tamil Nadu, in 2005 and 2007, respectively and the PhD degree in electrical and electronics engineering from Anna University, Chennai, Tamilnadu, in 2013. He is currently a professor and Head in the Department of Electrical and Electronics Engineering at Syed Ammal Engineering College, Ramanathapuram. He had published articles in reputed journals like IET and IEEE Transactions. He had published more than 40 journals and 10 books all over the world. He acted as reviewer for more than 20 journals including IEEE and IET journals. He organized two international conferences and as a recognized supervisor for PhD guidance in Anna University and guiding 12 PhD scholars and produced 3 PhD scholar in the domain of electrical engineering. His areas of interest are power electronics, embedded systems, and control system design.
E-mail: [email protected]
P. Nedumal Pugazhenthi
P. Nedumal Pugazhenthi was born in Ramanathapuram, Tamilnadu, India, in 1979. He received the BE degree in electrical and electronics engineering from Madurai Kamaraj University, Tamilnadu, in 2000 and the ME degree in process control and instrumentation from Annamalai University in the year 2004. He is currently working towards the PhD degree in the Department of Electrical and Electronics Engineering, Anna University, Chennai, Tamil Nadu. He has published six technical papers in refereed international journals. He is currently an associate professor in the Department of Electrical and Electronics Engineering, Syed Ammal Engineering College, Ramanathapuram, Tamil Nadu. His areas of interest are Nonlinear Control Systems, Process control, and Digital Signal Processing.
E-mail: [email protected]