Search results

The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space.

For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis.

The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories.

To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

The purpose of this paper is to investigate cotton fabric behavior that is exposed to radar waves between selected operation frequencies as an alternative radar-absorbing material (RAM) response. Cotton fabric biocomposite materials were compared with carbon fabric composite materials, which are good absorbers, in terms of mechanical and electromagnetic (EM) properties for that purpose.

The laminated composite plates were manufactured by using a vacuum infusion process. The EM tests were experimentally performed with a vector network analyzer to measure reflection, transmission and absorption ability of cotton fabric, carbon fabric and cotton–carbon fabric (side by side) composite plates between 3 and 18 GHz. The tensile and low-velocity impact tests were carried out to compare the mechanical properties of cotton fabric and carbon fabric composite plates. A scanning electron microscope was used for viewing the topographical features of fracture surfaces.

The cotton fabric composite plate exhibits low mechanical values, but it gives higher EM wave absorption values than the carbon fabric composite plate in certain frequency ranges. Comparing the EM absorption properties of the combination of cotton and carbon composites with those of the carbon composite alone, it appears that the cotton–carbon combination can be considered as a better absorber than the carbon composite in a frequency range from 12 to 18 GHz at Ku band.

This paper shows how cotton, which is a natural and easily supplied low-cost raw material, can be evaluated as a RAM.