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    Simplified modelling and backstepping control of the long arm agricultural rover
    (2020-12-01)
    Wongvanich, Napasool
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    Boksuwan, Sungwan
    ;
    Chesof, Abdulhafiz
    This paper presents the development of the simplified modelling and control of a long arm system for an agricultural rover, which also extends the modelling methodology from the previous work. The methodology initially assumes a flexible model and, through the use of the integral-based parameter identification method, the identified parameters are then correlated to an energy function to allow a construction of the friction induced nonlinear vibration model. To also capture the effect of the time delay, a delay model was also considered in the form of a second order delay differential equation. Both families of models were applied to identify and characterise a specialised long arm system. The nonlinear model was found to give significant improvement over the standard linear model in data fitting, which was further enhanced by the addition of the time delay consideration. A backstepping controller was also designed for both model families. Results show that the delay model expends less control efforts than the lesser non-delay model.
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    Agricultural Mobile Robot Body Vibration Characterization Using Integral Based Methodology
    (2019-04-01)
    Boksuwan, Sungwan
    ;
    Chesof, Abdulhafiz
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    Wongvanich, Napasool
    ;
    Panaudomsap, Sumit
    This paper presents the application of integral based method for characterization of the vibration in the four-wheel agricultural mobile robot, which is designed for use in applications such trimming, spraying and harvesting. Vibration occurs when one of the wheels does not touch the ground which reduces an effective of end effector. In order to design an effective controller, an accurate mathematical model is needed. Results show that the proposed method can simplify the system identification procedure, while yielding excellent match in comparison to the standard black box method. The proposed algorithm gave an NRMSE match of 96.8%, while the standard method yielded a 76.1% match. This match is also found to be lower when the validation data was from other experiments.
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    Evaluation of explicit model predictive temperature control for on-off air conditioner
    (2017-12-13)
    Chesof, Abdulhafiz
    ;
    Boksuwan, Sungwan
    ;
    Panaudomsup, Sumit
    ;
    Cheypoca, Thepjit
    The objective is to evaluate the performance of an explicit model predictive control for controlling the room temperature actuated by the on-off air conditioner to minimize the energy usage by reducing the working time of a compressor. There are a lot of on-off air conditioners already installed in the educational building in Thailand. To replace all of those by the inverter air conditioner or HVAC system, the high investment cost is required. Therefore, the on-off air conditioners continue to work in such building. The effective solution may be the low cost control unit which is simple like a remote control. The method is to design the remote control embedded by the temperature sensor and the explicit model predictive control that is based on the off-line optimization. The experiment is performed in the laboratory room with dimension 4×7×3.5 m (WxLxH) actuated by Saijo Denki 18,320 Btu on-off air conditioner. The experimental results reveal that the temperature reaches the desired value 25 degree Celsius within 10 minute and keeps fluctuating between 23 and 26 degree Celsius. The working time of compressor is reduced 33.33 %. The result shows that the explicit model predictive control is effective for the remote control application in terms of the implementation and energy saving.
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    High performance periodical paths tracking of two-dimensional handheld micromanipulator using explicit model predictive control
    (2017-02-18)
    Boksuwan, Sungwan
    ;
    Cheypoca, Thepjit
    ;
    Chesof, Abdulhafiz
    ;
    Kanamori, Chisato
    ;
    Panaudomsup, Sumit
    The paper proposes an explicit model predictive control framework for a two-dimensional handheld micromanipulator to track periodical reference paths within microscopic working range and for all holding angles of users' hand. The control objective is to achieve a minimum tracking error and a wide bandwidth. The micromanipulator's design is oriented to such bio cell treatments. Its structure consists of two flexible decoupling links, each of which is driven by the combination of electric coils and permanent magnets as an actuator. In the experiments, the proposed framework is compared with two types of PID controllers, parameters of which are designed by Skogestand's IMC and IMC method based on the underdamped transfer function, respectively. The experimental results exhibit the effectiveness of the two-dimensional handheld micromanipulator controlled by the model predictive control framework over the PID controller ones.