International Review of Automatic Control最新文献_第4页

Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor 用于四旋翼机线性和非线性轨迹跟踪的滑模控制器

International Review of Automatic Control Pub Date : 2020-05-31 DOI: 10.15866/ireaco.v13i3.18522

Hocine Loubar, R. Boushaki, Ayoub Aouati, M. Bouanzoul

{"title":"Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor","authors":"Hocine Loubar, R. Boushaki, Ayoub Aouati, M. Bouanzoul","doi":"10.15866/ireaco.v13i3.18522","DOIUrl":"https://doi.org/10.15866/ireaco.v13i3.18522","url":null,"abstract":"During the last decades, Unmanned Aerial Vehicles (UAV) quadrotors have been widely used for many applications; furthermore, various techniques for their modelling and control have been proposed. Among the challenges encountered in the design of controllers for a quadrotor is the fact that it is a highly coupled and nonlinear multivariable system. It is also known as being an under-actuated system because it uses four actuators to control six degrees of freedom. In this work, the nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. Then SMC and PD controllers are designed in order to investigate linear and nonlinear trajectory tracking capabilities of the quadrotor. Step input response tests are also performed in order to study the performance of both controllers. Chattering effect of SMC controller is minimized using the boundary layer solution technique and genetic algorithm (GA) is used to tune the parameters of both PD and SMC controllers for better performance. The simulation is carried out using MATLAB Simulink and both techniques are compared in order to evaluate their dynamic performance and tracking capabilities.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"128-138"},"PeriodicalIF":0.0,"publicationDate":"2020-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41641142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear Spacecraft Attitude Control via Cascade-Forward Neural Networks 基于级联前向神经网络的非线性航天器姿态控制

International Review of Automatic Control Pub Date : 2020-05-31 DOI: 10.15866/ireaco.v13i3.19149

T. Habib

{"title":"Nonlinear Spacecraft Attitude Control via Cascade-Forward Neural Networks","authors":"T. Habib","doi":"10.15866/ireaco.v13i3.19149","DOIUrl":"https://doi.org/10.15866/ireaco.v13i3.19149","url":null,"abstract":"The problem of spacecraft attitude control has been addressed in the literature via several linear and nonlinear algorithms. In the current study, cascade-forward neural networks have been used to mimic the behaviour of the High Performance Nonlinear Discrete Controller (HPNDC). Controller stability is proven via Lyapunov second method. The developed control algorithm has the ability to work during all of the spacecraft operational modes and alleviates many problems associated with other nonlinear algorithms existing in the literature. Performance of the algorithm has been tested against various nonlinear attitude control algorithms including HPNDC, Sliding Mode (SM) Controller, Nonlinear Dynamic Inversion (NDI)controller, and Adaptive Neuro-Fuzzy Inference Systems (ANFIS) controller. The proposed neural networks control algorithm achieved a good performance compared to the aforementioned control algorithms. The behaviour of the HPNDC control algorithm has been used for training of the Neural Networks due to its numerous advantages when operating in linear and nonlinear operational modes. To prevent data overfitting, 10% of the training data set are used for testing. The training ratio is selected to be 90%. Gravity gradient torques acting on EGYPTSAT-1 spacecraft are considered the main acting disturbance. The developed control algorithm can nullify the initial high angular velocities and attitude angles of the spacecraft within two orbits.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"146-152"},"PeriodicalIF":0.0,"publicationDate":"2020-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46093722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Design and Realization of a Low-Cost and High Accurate Photovoltaic Emulator System Using Buck-Boost Converter 基于Buck-Boost转换器的低成本高精度光伏仿真系统的设计与实现

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.18597

Samia Jenkal, M. Kourchi, A. Rachdy, Otman Oussalem, M. Oubella, M. Ajaamoum

引用次数: 0

Driverless Model Cars: a Review and Analysis of Autonomous Vehicle Literature on Technology and Application 无人驾驶汽车模型：自动驾驶汽车技术与应用文献综述与分析

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.18659

Y. H. Alnema, Mohammed Almaged, Mohanad N. Noaman

引用次数: 1

Tracking AC Signals with Zero Average Dynamics and Fixed Point Induced Control 零平均动态和定点感应控制的交流信号跟踪

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.17637

F. H. Velasco, J. Candelo-Becerra, Eder Alexander Molina Viloria

{"title":"Tracking AC Signals with Zero Average Dynamics and Fixed Point Induced Control","authors":"F. H. Velasco, J. Candelo-Becerra, Eder Alexander Molina Viloria","doi":"10.15866/ireaco.v13i2.17637","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.17637","url":null,"abstract":"This paper presents the theoretical and the experimental results of a direct current and alternating current buck converter configured as an inverter controlled by zero average dynamics and fixed point induced control techniques. The system is modeled and implemented in an electrical circuit in order to apply the control techniques and the tracking voltage at the output of the alternating current signals. The tests are based on comparing simulation and experimental results in order to identify the robustness of the circuit when subjected to disturbances. The results show that zero average dynamics and fixed point induced control techniques implemented digitally in a digital signal processor meet the requirements of fixed switching frequency, robustness, and good performance in alternating current signal tracking tasks, which are the benefits of this controller. The fixed switching frequency is evidenced in the results related to the non-saturated duty cycle achieving a very good commutation and reducing electromagnetic interferences. For high frequencies, the value of the inductive-capacitive filter should be decreased when tracking alternating current signals; however, this increases ripple in the signal and tracking errors.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"93-99"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44191498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Place Recognition with DAG-CNN DAG-CNN的位置识别

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.17053

J. Pinzón-Arenas, R. Jiménez-Moreno, César G. Pachón-Suescún

引用次数: 0

Analysis and Modeling of Coating Plant Topology and Automatic Control System 涂料厂拓扑结构分析与建模及自动控制系统

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.18256

A. R. Khafizov, B. Bulatov, A. .. Pudovkin, I. Nedoseko, Valeri M. Galimov, M. T. Sultanov

引用次数: 1

Dynamic Response of DC-DC and DC-AC Inverters Controlled with ZAD-FPIC ZAD-FPIC控制的DC-DC和DC-AC逆变器的动态响应

International Review of Automatic Control Pub Date : 2020-03-31 DOI: 10.15866/ireaco.v13i2.17572

F. H. Velasco, John Edwin Candelo Becerra, Frank Alberto Ibarra Hernández

引用次数: 0

A Soft Exoskeleton Glove Incorporating Motor-Tendon Actuator for Hand Movements Assistance 一种软性外骨骼手套，包含用于手部运动辅助的电机-肌腱驱动器

International Review of Automatic Control Pub Date : 2020-01-31 DOI: 10.15866/ireaco.v13i1.18274

J. Setiawan, M. Ariyanto, Sri Nugroho, M. Munadi, R. Ismail

{"title":"A Soft Exoskeleton Glove Incorporating Motor-Tendon Actuator for Hand Movements Assistance","authors":"J. Setiawan, M. Ariyanto, Sri Nugroho, M. Munadi, R. Ismail","doi":"10.15866/ireaco.v13i1.18274","DOIUrl":"https://doi.org/10.15866/ireaco.v13i1.18274","url":null,"abstract":"Hand paralysis can inhibit daily activities, for example, grasping a particular food or an object. With the advancement of science and technology today especially in wearable robot technology, normal hand function can be recovered with the help of wearable soft robotic glove. This robot has a mechanism that resembles the working mechanism of the hand itself. The purpose of this study is to develop a low-cost soft exoskeleton glove made from silicone rubber using a tendon-based mechanism. The molding of the soft glove is designed using SolidWorks CAD software. Dual-slack enabling actuators are designed and manufactured as the actuator system of the soft exoskeleton glove. The proposed actuator is used as flexion and extension motion for the human hand. This motion enables the soft exoskeleton glove to provide mechanical support for the human hand. A potentiometer sensor is used in the dual-slack enabling actuator for measuring the rotating angle of the actuator that is connected to the tendon and soft exoskeleton glove. The actuator is controlled using on-off and Proportional-Integral (PI) control. After the soft exoskeleton glove system is integrated, the soft robot is implemented on a healthy human hand to assist the grasping of various objects. The measurement for the wearable robot is performed by using serial communication between Arduino Nano microcontroller and the host computer. Based on the experimental results, the soft glove can successfully assist and support the user’s hand for various object grasping. Copyright © 2020 Praise Worthy Prize S.r.l. All rights reserved.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"1"},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43395112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance 基于静态避障的全向移动机器人室内导航系统

International Review of Automatic Control Pub Date : 2020-01-31 DOI: 10.15866/ireaco.v13i1.18346

S. A. Salman, Qais Khasawneh, M. Jaradat, Mansour Alramlawi

引用次数: 0