International Journal of Robotics and Control Systems最新文献_第9页

Exploration of Applying Lego NXT and Arduino in Situated Engineering Teaching: A Case Study of a Robotics Contest at King Saud University 乐高NXT与Arduino在情境工程教学中的应用探索——以沙特国王大学机器人竞赛为例

International Journal of Robotics and Control Systems Pub Date : 2022-01-30 DOI: 10.31763/ijrcs.v2i1.508

H. Marouani

{"title":"Exploration of Applying Lego NXT and Arduino in Situated Engineering Teaching: A Case Study of a Robotics Contest at King Saud University","authors":"H. Marouani","doi":"10.31763/ijrcs.v2i1.508","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i1.508","url":null,"abstract":"Saudi students in engineering courses suffer from a lack of science, technology, engineering, and mathematics (STEM) knowledge due to the teaching philosophy and programs offered in secondary and intermediate schools. This weakness naturally impacts their motivation, grades, and their relationship with teachers. In this paper, we introduce a new experimental teaching experience in the Applied Mechanical Department of the Applied Engineering College of King Saud University, based on situated learning theory, which emphasizes that knowledge must be learned in constructed situational context). This experience involved introducing Lego NXT and Arduino to enhance the enthusiasm and interest of students through designing and building robots in agreement with the “Introduction to design” course syllabus. Two experimental challenges were associated with: the line-follower problem and the maze problem. These challenges took the form of an internal completion at the end of each semester. The experience was conducted for two consecutive terms (30 students, the academic year 2019-2020), and the results were compared to those in six previous terms (100 students, academic years from 2016 to 2019). The experimental group demonstrated grades improvement (course mean grade rose from 77.1 to 85.3), the progress of academic achievement, and interest that enables them to actively explore and construct knowledge.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124521114","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: 4

Chaotic Particle Swarm Optimization for Solving Reactive Power Optimization Problem 混沌粒子群算法求解无功优化问题

International Journal of Robotics and Control Systems Pub Date : 2022-01-28 DOI: 10.31763/ijrcs.v1i4.539

Omar Muhammed Neda, A. Ma’arif

{"title":"Chaotic Particle Swarm Optimization for Solving Reactive Power Optimization Problem","authors":"Omar Muhammed Neda, A. Ma’arif","doi":"10.31763/ijrcs.v1i4.539","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.539","url":null,"abstract":"The losses in electrical power systems are a great problem. Multiple methods have been utilized to decrease power losses in transmission lines. The proper adjusting of reactive power resources is one way to minimize the losses in any power system. Reactive Power Optimization (RPO) problem is a nonlinear and complex optimization problem and contains equality and inequality constraints. The RPO is highly essential in the operation and control of power systems. Therefore, the study concentrates on the Optimal Load Flow calculation in solving RPO problems. The Simple Particle Swarm Optimization (PSO) often falls into the local optima solution. To prevent this limitation and speed up the convergence for the Simple PSO algorithm, this study employed an improved hybrid algorithm based on Chaotic theory with PSO, called Chaotic PSO (CPSO) algorithm. Undeniably, this merging of chaotic theory in PSO algorithm can be an efficient method to slip very easily from local optima compared to Simple PSO algorithm due to remarkable behavior and high ability of the chaos. In this study, the CPSO algorithm was utilized as an optimization tool for solving the RPO problem; the main objective in this study is to decrease the power loss and enhance the voltage profile in the power system. The presented algorithm was tested on IEEE Node-14 system. The simulation implications for this system reveal that the CPSO algorithm provides the best results. It had a high ability to minimize transmission line losses and improve the system's voltage profile compared to the Simple PSO and other approaches in the literature.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129368198","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

Invariant Ellipsoids Method for Chaos Synchronization in a Class of Chaotic Systems 一类混沌系统混沌同步的不变椭球法

International Journal of Robotics and Control Systems Pub Date : 2022-01-28 DOI: 10.31763/ijrcs.v2i1.533

G. Fedele

引用次数: 1

Adaptive Neural Networks Based Robust Output Feedback Controllers for Nonlinear Systems 基于自适应神经网络的非线性鲁棒输出反馈控制器

International Journal of Robotics and Control Systems Pub Date : 2022-01-24 DOI: 10.31763/ijrcs.v2i1.523

A. Abougarair, Mohamed Aburakhis, M. Edardar

{"title":"Adaptive Neural Networks Based Robust Output Feedback Controllers for Nonlinear Systems","authors":"A. Abougarair, Mohamed Aburakhis, M. Edardar","doi":"10.31763/ijrcs.v2i1.523","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i1.523","url":null,"abstract":"The performance of the nonlinear control system that is subjected to uncertainty, can be enhanced by implementing an adaptive approach by using the robust output-feedback control and the artificial intelligence neural network. This paper seeks to utilize output feedback control for nonlinear system using artificial intelligence employing neural network. The Two Wheel Mobile Robot (TWMR) is treated as a multi-body dynamic system. The nonlinear swing-up problem is handled by designing an adaptive neural network, which is trained using a modified conventional controller called Linear Quadratic Optimal State Estimator with Integral Control (LQOSEIC). In this paper, the nonlinear system TWMR is stabilized utilizing a robust output feedback control called LQOSEIC. This controller allows a linearized model to emulate a model reference for the original nonlinear system. However, it works for a limited range of operations and will fail if the plant characteristics are unknown or uncertain. An adaptive neural network is used to overcome this problem. The adaptive neural controller is trained offline using LQOSEIC to obtain the initial weights of neurons for the network's hidden layers. After finishing the training, the LQOSEIC will be replaced by the adaptive neural controller. The main advantage of a neuro-controller is its ability to update the weights online depending on the error signal. If there are any disturbances or uncertainties that arises within the concerned nonlinear system, the neuro-controller will be able to handle it because of online learning that compensates for the effect of unpredictable conditions. The proposed adaptive neural network improves control performance and ensures the robust stability of the closed-loop control system. Finally, numerical simulations are used to demonstrate the efficacy of the proposed controllers.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126428270","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: 15

Pinning Decision in Interconnected Systems with Communication Disruptions under Multi-Agent Distributed Control Topology 多智能体分布式控制拓扑下具有通信中断的互联系统的钉住决策

International Journal of Robotics and Control Systems Pub Date : 2021-12-28 DOI: 10.31763/ijrcs.v2i1.514

S. Yu, Tat Kei Chau

{"title":"Pinning Decision in Interconnected Systems with Communication Disruptions under Multi-Agent Distributed Control Topology","authors":"S. Yu, Tat Kei Chau","doi":"10.31763/ijrcs.v2i1.514","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i1.514","url":null,"abstract":"In this study, we propose a decision-making strategy for pinning-based distributed multi-agent (PDMA) automatic generation control (AGC) in islanded microgrids against stochastic communication disruptions. The target microgrid is construed as a cyber-physical system, wherein the physical microgrid is modeled as an inverter-interfaced autonomous grid with detailed system dynamic formulation, and the communication network topology is regarded as a cyber-system independent of its physical connection. The primal goal of the proposed method is to decide the minimum number of generators to be pinned and their identities amongst all distributed generators (DGs). The pinning-decisions are made based on complex network theories using the genetic algorithm (GA), for the purpose of synchronizing and regulating the frequencies and voltages of all generator bus-bars in a PDMA control structure, i.e., without resorting to a central AGC agent. Thereafter, the mapping of cyber-system topology and the pinning decision is constructed using deep-learning (DL) technique, so that the pinning-decision can be made nearly instantly upon detecting a new cyber-system topology after stochastic communication disruptions. The proposed decision-making approach is verified using a 10-generator, 38-bus microgrid through time-domain simulation for transient stability analysis. Simulations show that the proposed pinning decision making method can achieve robust frequency control with minimum number of active communication channels.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124385536","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

Enhanced Sliding Mode Control for a Nonlinear Active Suspension Full Car Model 非线性主动悬架全车模型的增强滑模控制

International Journal of Robotics and Control Systems Pub Date : 2021-12-15 DOI: 10.31763/ijrcs.v1i4.473

Erliana Samsuria, Yahaya M. Sam, Fazilah Hassan

{"title":"Enhanced Sliding Mode Control for a Nonlinear Active Suspension Full Car Model","authors":"Erliana Samsuria, Yahaya M. Sam, Fazilah Hassan","doi":"10.31763/ijrcs.v1i4.473","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.473","url":null,"abstract":"This paper delivers findings on optimal robust control studies of nonlinear full car models. A nonlinear active suspension full car model is used, which considers the dynamic of a hydraulic actuator. The investigation on the benefit of using Sliding Mode Control (SMC) structure for the effective trade-off between road handling. The design of SMC in the chassis/internal subsystem is enhanced by modifying a sliding surface based on Proportional-Integral-Derivatives (PID) with the utilization of particle swarm optimization (PSO) algorithm in obtaining the best optimum value of control parameters. The switching control is designed through the Lyapunov function, which includes the boundedness of uncertainties in sprung masses that can guarantee the stability of the control design. The responses of the proposed controller have improved the disturbance rejection up to 60% as compared to the conventional SMC controller design and shown the high robustness to resist the effect of varying the parameter with minimal output deviations. The study proved that the proposed SMC scheme offers an overall effective performance in full car active suspension control to perform a better ride comfort as well as the road handling ability while maintaining a restriction of suspension travel. An intensive computer simulation (MATLAB Simulink) has been carried out to evaluate the effectiveness of the proposed control algorithm under various road surface conditions.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130691694","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

Spiking PID Control Applied in the Van de Vusse Reaction 峰值PID控制在Van de Vusse反应中的应用

International Journal of Robotics and Control Systems Pub Date : 2021-11-25 DOI: 10.31763/ijrcs.v1i4.490

C. A. Márquez-Vera, Z. Yakoub, Marco Antonio Márquez Vera, A. Ma’arif

{"title":"Spiking PID Control Applied in the Van de Vusse Reaction","authors":"C. A. Márquez-Vera, Z. Yakoub, Marco Antonio Márquez Vera, A. Ma’arif","doi":"10.31763/ijrcs.v1i4.490","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.490","url":null,"abstract":"Artificial neural networks (ANN) can approximate signals and give interesting results in pattern recognition; some works use neural networks for control applications. However, biological neurons do not generate similar signals to the obtained by ANN. The spiking neurons are an interesting topic since they simulate the real behavior depicted by biological neurons. This paper employed a spiking neuron to compute a PID control, which is further applied to the Van de Vusse reaction. This reaction, as the inverse pendulum, is a benchmark used to work with systems that has inverse response producing the output to undershoot. One problem is how to code information that the neuron can interpret and decode the peak generated by the neuron to interpret the neuron's behavior. In this work, a spiking neuron is used to compute a PID control by coding in time the peaks generated by the neuron. The neuron has as synaptic weights the PID gains, and the peak observed in the axon is the coded control signal. The neuron adaptation tries to obtain the necessary weights to generate the peak instant necessary to control the chemical reaction. The simulation results show the possibility of using this kind of neuron for control issues and the possibility of using a spiking neural network to overcome the undershoot obtained due to the inverse response of the chemical reaction.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130021236","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

Pulse Width Modulation Analysis of Five-Level Inverter- Fed Permanent Magnet Synchronous Motors for Electric Vehicle Applications 电动汽车用五电平逆变馈永磁同步电机脉宽调制分析

International Journal of Robotics and Control Systems Pub Date : 2021-11-21 DOI: 10.31763/ijrcs.v1i4.483

O. Tola, E. Umoh, E. A. Yahaya

{"title":"Pulse Width Modulation Analysis of Five-Level Inverter- Fed Permanent Magnet Synchronous Motors for Electric Vehicle Applications","authors":"O. Tola, E. Umoh, E. A. Yahaya","doi":"10.31763/ijrcs.v1i4.483","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.483","url":null,"abstract":"In recent times, intense research has been focused on the performance enhancement of permanent magnet synchronous motors (PMSM) for electric vehicle (EV) applications to reduce their torque and current ripples. Permanent magnet synchronous motors are widely used in electric vehicle systems due to their high efficiency and high torque density. To have a good dynamic and transient response, an appropriate inverter topology is required. In this paper, a five-level inverter fed PMSM for electric vehicle applications, realized via co-simulation in an electromagnetic suite environment with a reduced stator winding current of PMSM via the use of in-phase disposition (PD) pulse width modulation (PWM) techniques as the control strategy is presented. The proposed topology minimizes the total harmonic distortion (THD) in the inverter circuit and the motor fed and also improves the torque ripples and the steady-state flux when compared to conventional PWM techniques. A good dynamic response was achieved with less than 10A stator winding current, zero percent overshoot, and 0.02 second settling time synchronization. Thus, the stator currents are relatively low when compared to the conventional PWM. This topology contribution to the open problem of evolving strategies that can enhance the performance of electric drive systems used in unmanned aerial vehicles (UAV), mechatronics, and robotic systems.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134199230","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: 4

Treatment of Bone Marrow Cancer Based on Model Predictive Control 基于模型预测控制的骨髓癌治疗

International Journal of Robotics and Control Systems Pub Date : 2021-11-06 DOI: 10.31763/ijrcs.v1i4.481

Ehsan Salajegheh, Sepide Mojalal, Ali Mojarrad Ghahfarokhi

{"title":"Treatment of Bone Marrow Cancer Based on Model Predictive Control","authors":"Ehsan Salajegheh, Sepide Mojalal, Ali Mojarrad Ghahfarokhi","doi":"10.31763/ijrcs.v1i4.481","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.481","url":null,"abstract":"Bone marrow is a spongy tissue that contains stem cells that are found inside some bones, including the hip and femur. Bone marrow cancer is a type of cancer that is caused by stem cells that make up the blood cells in the bone marrow. Sometimes these cells grow too fast or abnormally, which is called bone marrow cancer. Bone tissue cells are mainly composed of osteoblasts and osteoclasts. Osteoblast cells constantly build new bone throughout the life of each bone, and other cells called osteoclasts constantly absorb pieces of bone, so the bone is constantly being renewed. In this paper, mathematical models of tumors, the effect of the body on the drug, and the drug on the body are introduced, and then the appropriate dose of the drug to reduce tumor density is calculated using the model predictive control (MPC) algorithm. To obtain an adaptive MPC strategy, the extended least squares (ELS) method developed to learn the parameters of the tumor growth model is used. Finally, the simulation in MATLAB, assuming the model is correct, shows that the tumor is gone, and the bone mass improves over a period of time. The results demonstrate that the proposed method is effective for the treatment of bone marrow cancer.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124277507","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

Robust Global Synchronization of a Hyperchaotic System with Wide Parameter Space via Integral Sliding Mode Control Technique 基于积分滑模控制技术的宽参数空间超混沌系统鲁棒全局同步

International Journal of Robotics and Control Systems Pub Date : 2021-10-31 DOI: 10.31763/ijrcs.v1i4.485

Edwin A. Umoh, Omokhafe J. Tola

{"title":"Robust Global Synchronization of a Hyperchaotic System with Wide Parameter Space via Integral Sliding Mode Control Technique","authors":"Edwin A. Umoh, Omokhafe J. Tola","doi":"10.31763/ijrcs.v1i4.485","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.485","url":null,"abstract":"The inherent property of invariance to structural and parametric uncertainties in sliding mode control makes it an attractive control strategy for chaotic dynamics control. This property can effectively constrain the chaotic property of sensitive dependence on initial conditions. In this paper, the trajectories of two identical four-dimensional hyperchaotic systems with fully-known parameters are globally synchronized using the integral sliding mode control technique. Based on the exponential reaching law and the Lyapunov stability principle, the problem of synchronizing the trajectories of the two systems was reduced to the control objective of asymptotically stabilizing the synchronization error state dynamics of the coupled systems in the sense of Lyapunov. To verify the effectiveness of the control laws, the model was numerically tested on a hyperchaotic system with a wide parameter space in a master-slave configuration. The parameters of the hyperchaotic system were subsequently varied to evolve a topologically non-equivalent hyperchaotic system that was identically coupled. In both cases, the modeled ISM control laws globally synchronized the dynamics of the coupled systems after transient times, which sufficiently proved the invariance property of the ISMC. This study offers an elegant technique for the modeling of an ISMC for hyperchaotic coupling systems. As an open problem, this synchronization technique holds promises for applications in robot motion control, chaos-based secure communication system design, and other sensitive nonlinear system control. ","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130608004","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