Intelligent Proportional-Integral-Derivative Control-Based Modulating Functions for Laser Beam Pointing and Stabilization

Ibrahima Ndoye, Sharefa Asiri, Adil Aloufi, Asem Ibrahim Alwan Al-Alwan, Taous-Meriem Laleg-Kirati

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


This paper studies the problem of high-precision positioning of laser beams using an intelligent proportional-integral-derivative (i-PID) controller. The control problem addressed in laser beams aims at maintaining the position of the laser beam on a position sensing device under the effects of noise and active disturbances. The design of an i-PID control is based on the so-called ultralocal model. The i-PID controller has been implemented and validated on a real test bench. For the sake of enhancing the performance of the closed loop, it has been combined with a nonasymptotic and robust modulating function-based estimation method, which is used to estimate the unmodeled dynamics and disturbances. The proposed i-PID controller has shown good performance in handling the active disturbances and uncertainties present in the platform. A comparison to the classical PID and robust PID is also provided based on the experimental setup. Robustness tests are performed experimentally to show the effectiveness of the i-PID control.
Original languageEnglish (US)
Pages (from-to)1-8
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number3
StatePublished - Jan 14 2019

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: The authors would like to thank A. Chahid for useful discussions concerning the real-time implementation of i-PID controller using MFBM and the anonymous reviewers for their valuable remarks that helped improve this paper.


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