Automation and Remote Control最新文献

{"title":"Agent-Based Control of Robot Behavior Using Reasoning Language Models","authors":"M. S. Skorokhodov,&nbsp;V. E. Latalin,&nbsp;R. B. Rybka,&nbsp;A. G. Sboev","doi":"10.1134/S0005117925601101","DOIUrl":"10.1134/S0005117925601101","url":null,"abstract":"<p>Advances in language models open up opportunities for the creation of intelligent robot-control systems capable of interpreting general, often vaguely formulated, human target commands and shaping robot behavior based on them under given conditions. The paper proposes a system for the reasoned control of the robot’s behavior, which is the result of logical processing of goal-setting instructions using external information from the robot’s environment, taking into account feedback from the operator. Experiments were conducted to evaluate the success rate of a system of single- and multiagent approaches to forming reasoning and controlling robot behavior. The evaluation results were obtained on a set of reasoning and instructional Large Language Models, such as Deepseek, Gemini, GPT, Mistral, and Qwen. The analysis of the results demonstrates that, in general, the proposed agent-based approaches are capable of effectively controlling the robot’s behavior. The developed agents, built on the basis of the most productive Large Language Models, achieve a success rate of up to 74%, with each approach incorporating its own hallucination reduction mechanism.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 5-8","pages":"265 - 277"},"PeriodicalIF":0.6,"publicationDate":"2026-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147621057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Fuzzy PID Control of a Nonlinear Helicopter System under Real-Time Turbulent Conditions Using an Improved TLBO Algorithm","authors":"Abhishek Chaudhary","doi":"10.1134/S0005117925600910","DOIUrl":"10.1134/S0005117925600910","url":null,"abstract":"<p>This paper uses an improvised version of the teaching–learning-based optimization (TLBO) algorithm for tuning a fuzzy PID controller aimed at improving the dynamic control of a nonlinear helicopter system under uncertain and time-varying conditions. The study contributes to the broader field of control theory and automation by addressing the challenges of autonomous flight control through intelligent optimization. External disturbances are introduced using high-speed fans that create turbulent airflow thus replicating real-world aerodynamic conditions within a laboratory environment. The helicopter model is developed using the Lagrangian approach representing a complex nonlinear multivariable system. The fuzzy PID controller tuned via the proposed TLBO method effectively reduces yaw and pitch tracking errors and improves disturbance rejection. The optimization framework adapts dynamically to environmental variability narrowing the gap between simulated and practical control performance. Comprehensive MATLAB/Simulink simulations confirm that the proposed control strategy enhances trajectory tracking robustness and computational efficiency compared to conventional approaches thereby demonstrating its suitability for advanced automation and real-time control applications.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 5-8","pages":"148 - 169"},"PeriodicalIF":0.6,"publicationDate":"2026-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147621056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Joint Trajectory Control of Robot Manipulator Using Hyperbolic Tangent Nonsingular Terminal Sliding Mode Control","authors":"Ashwini Kumar Singh,&nbsp;Vitalram Rayankula,&nbsp;Vijay Kumar Dalla,&nbsp;Naresh Prasad","doi":"10.1134/S000511792560082X","DOIUrl":"10.1134/S000511792560082X","url":null,"abstract":"<p>this work focuses on trajectory control of the robot manipulator subjected to bounded disturbances. A hyperbolic tangent based nonsingular terminal sliding mode control has been proposed in this work for the robust trajectory control of the manipulator. The proposed control could propel the trajectory error to zero in finite time. Evidence for the stability of the proposed control is rendered leveraging the Lyapunov stability principle. Numerical experiments are carried out for a two degree of freedom robot using the proposed control to elicit the efficiency in following the reference trajectory. The simulation results show that the proposed control method offers faster convergence.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 5-8","pages":"254 - 264"},"PeriodicalIF":0.6,"publicationDate":"2026-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147621073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hybrid Sampled-Data Nonlinear Lyapunov Control with Variable Switching Frequency for DC–DC Buck Converters","authors":"Saeed Arabameri,&nbsp;Naser Eskandarian","doi":"10.1134/S0005117925600727","DOIUrl":"10.1134/S0005117925600727","url":null,"abstract":"<p>This paper presents a robust and adaptive control strategy for DC–DC buck converters that combines a nonlinear Lyapunov-based sampled-data framework with a variable switching frequency mechanism. The proposed controller is designed to operate in a digitally controlled environment, where discrete-time control laws directly interact with the continuous-time dynamics of the converter, reflecting the hybrid nature of modern power electronics systems. By employing Lyapunov stability theory in the discrete domain, global asymptotic stability is rigorously ensured, even in the presence of parameter uncertainties, external disturbances, and measurement noise. A key contribution of this work is the integration of a dynamic switching frequency scheme that modulates the pulse-width modulation frequency as a function of the sampled tracking error. This design enables high-frequency switching during large transients for fast and accurate regulation, while reducing the frequency under steady-state conditions to minimize switching losses and improve energy efficiency. The control input influences both the duty cycle and the switching period, achieving precise adaptation to changing load and reference conditions. Comprehensive simulation results conducted in MATLAB/Simulink validate the effectiveness of the proposed method. Compared to conventional fixed-frequency PID-based control, the nonlinear sampled-data controller demonstrates significantly faster transient response, reduced steady-state error, and superior robustness under load variations and noise injection. The results confirm the suitability of the proposed approach for high-performance digital power management systems, offering improved dynamic behavior and reduced switching activity without the need for gain retuning or model linearization.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 5-8","pages":"133 - 147"},"PeriodicalIF":0.6,"publicationDate":"2026-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147621072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Control of a Nonminimum Phase Boost Converter Using a Fractional-Order Adaptive-Robust Controller Optimized by Gray Wolf and Q-Learning Algorithms","authors":"Mehran Jelodari Mamaghani,&nbsp; Naser Eskandarian","doi":"10.1134/S0005117925600739","DOIUrl":"10.1134/S0005117925600739","url":null,"abstract":"<p>The present paper suggests a sophisticated control strategy for a boost converter, which is a naturally nonminimum phase system based on a fractional-order adaptive-robust controller (FOARC) tuned by the use of the gray wolf optimization (GWO) algorithm and Q-learning. Non-minimum phase converters, such as the boost converter, are incredibly challenging regarding stability, transient response, and performance through their intrinsic time-delay characteristics and inverse dynamics. The complexities involved make traditional control methods fail to obtain quick response and precise tracking. The flexibility of fractional-order elements is used in the proposed FOARC to advance the converter’s dynamic performance through better control of system response compared with traditional integer-order controllers. The GWO and Q-learning algorithms are employed to optimize the controller’s parameters. The GWO algorithm is used in the global parameter space search to ensure a well-distributed optimization. At the same time, the Q-learning fine-tunes the controller’s performance by adapting it to change, guaranteeing a constant performance improvement. Simulation outcomes reveal that the integration of GWO and Q-learning in optimizing the FOARC is superior to the conventional methods in transient response, steady-state error minimization, and system robustness. The proposed control strategy offers a possible solution for high-performance power conversion systems, particularly when demanding precision and efficiency.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 5-8","pages":"170 - 188"},"PeriodicalIF":0.6,"publicationDate":"2026-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147621037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Target Detection and Grasping Algorithm of Robotic Arm Based on Binocular Vision","authors":"Jun Zhang","doi":"10.1134/S0005117925600855","DOIUrl":"10.1134/S0005117925600855","url":null,"abstract":"<p>In order to obtain more accurate robot arm target detection and capture results, a robot arm target detection and capture algorithm based on binocular vision is proposed. Give priority to binocular vision calibration, determine camera parameters, and carry out hand eye calibration for robot arm and camera. Then the binocular vision is introduced into the robot arm target detection, and the target to be detected is detected. The combination of SAC-IA coarse registration and ICP fine registration is used to complete the pose estimation of target objects based on point cloud registration. GPD algorithm is used to sample the preprocessed point cloud information to obtain candidate grasping pose. The candidate grasping pose is classified to obtain effective grasping pose. Finally, the grasping pose is determined through geometric similarity clustering to complete the robot arm target grasping. The experimental findings indicate that the suggested algorithm can effectively improve the accuracy of the robot arm target detection and capture results.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 1-4","pages":"102 - 115"},"PeriodicalIF":0.6,"publicationDate":"2026-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147588527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Robust Fault-Tolerant Control Considering Packet Dropout and Denial of Service Attack","authors":"Hyok-Chol Ju,&nbsp;Yong-Il Kim,&nbsp;Kuk-Chol Ri","doi":"10.1134/S0005117925600909","DOIUrl":"10.1134/S0005117925600909","url":null,"abstract":"<p>In this paper, we study a robust fault-tolerant controller design method in networked control system (NCS), with denial of service (DoS) attack on both sides of the controller and in the presence of faults and packet dropouts at the control system nodes. In this paper, we present the existence condition of a robust fault-tolerant controller with state feedback in NCS with passive component faults and design a robust fault-tolerant control algorithm from Lyapunov’s stability theory. The main contributions of this paper are as follows. First, we develop a model of extended linear discrete NCS with packet dropout in the uncertain NCS model where passive component faults and DoS attacks exist, and present the existence condition of robust fault-tolerant controller. Second, from the model of the extended linear discrete uncertainty NCS, a robust fault-tolerant controller, a security controller, have been designed. The proposed security controller does not need to estimate the threshold value for the faults of passive components and is independent of fault detection and diagnosis devices. Finally, the effectiveness of designed robust optimal fault-tolerant controller is demonstrated through numerical simulations and application experiments for quadrotor unmanned aerial vehicle (UAV). In a networked control system, it can be used to protect network resources and verify the stability of the system.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 1-4","pages":"30 - 49"},"PeriodicalIF":0.6,"publicationDate":"2026-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147588514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bidirectional Servo Automatic Control Method for Redundant Drive Manipulator","authors":"Jinghua Yu,&nbsp; Yuquan Zhu","doi":"10.1134/S0005117925600867","DOIUrl":"10.1134/S0005117925600867","url":null,"abstract":"<p>Due to the physical characteristics of the actuators and the processing speed of the control system, there may be slight errors in the position of the redundant drive manipulator actuators. A bidirectional servo automatic control method for redundant drive manipulators is proposed. First, a kinematic model of the redundant drive manipulator is established to calculate the total torque of the manipulator; then, based on a four-channel bidirectional servo control method, the total torque of the manipulator is adjusted to minimize the position error between the master and slave actuators and the resultant force error, ensuring the accuracy of synchronous control. Finally, an immune genetic algorithm is used to find the virtual control quantity for minimizing the speed error of the manipulator actuators, thereby designing an adaptive sliding mode controller. Experiments show that this method can achieve bidirectional servo automatic control for redundant drive manipulators, with a maximum control position error of ±0.04°, a maximum resultant force error of –0.99 N m, and the total control error of the angular position of the servo drive actuators under heavy load and high-speed handling conditions all within the range of –2°~4°, meeting the control requirements for the manipulator’s handling production.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 1-4","pages":"89 - 101"},"PeriodicalIF":0.6,"publicationDate":"2026-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147588513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Performance Enhancement of Fuel Cell towards Sustainable Transport Using Optimized MPPT","authors":"A. Preethi,&nbsp;R. Arulmozhiyal","doi":"10.1134/S0005117925600892","DOIUrl":"10.1134/S0005117925600892","url":null,"abstract":"<p>Fuel cells are emerging as a clean and efficient power source for electric vehicles (EV). But, due to their nonlinear characteristic nature, they are failed to maintain maximum efficiency. Standard MPPT algorithms often converge slowly and fluctuate around the maximum power point, which lowers overall energy use. To address these problems, this study proposes a modified long short-term memory (MLSTM) based controller for maximum power point tracking. This method uses predictive learning to estimate the maximum power point accurately and create adaptive control signals for the DC–DC converter. This ensures stable fuel cell operation and effective power delivery to the traction system. Simulation results demonstrate that the proposed approach achieved a tracking time of 0.57 s, THD of 9.66%, and efficiency of 99.25%, outperforming the conventional P&amp;O method. The proposed controller not only improves the overall energy efficiency of the fuel cell system but also extends the driving range of the EV with renewable energy sources in hybrid vehicle architectures. This topology provides a promising solution to fuel cell based EV in terms of enhanced sustainability and efficiency.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 1-4","pages":"1 - 17"},"PeriodicalIF":0.6,"publicationDate":"2026-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147588524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modeling Threshold Effects of Information Processes in Social Networks with Induced Atypical Group Behavior","authors":"A. Yu. Perevaryukha","doi":"10.1134/S0005117925600934","DOIUrl":"10.1134/S0005117925600934","url":null,"abstract":"&lt;p&gt;This paper has been devoted to the development of a methodology for predictive analysis of transient processes in network structures with induced group behavior. Interpreting phase portraits of information process models is essential for predicting collective behavior activation scenarios. Destructive activity aimed at targeting group behavior is based on social media’s ability to promote instantly topics in mention rankings. Disturbing cohesive social communities is actively used in planning information attacks and fraudulent activities. Impulsive ripple effects on target groups lead to online epidemics and the spread of aggressive virus-like content. The author of this paper has repeatedly encountered campaigns promoting aggressively attention-grabbing fake information with the destructive goal of promoting vaccination refusal and the use of unacceptable medications during the recent pandemic. Similar posts and comments do not formally violate social media rules and are not direct advertising or threats, but they are used to manage social change. Simulation modeling of adaptive network processes in the social engineering of subcultural groups is a new contemporary problem. Identifying and blocking bot accounts of fictitious personalities (bot farms and troll factories) that specifically control chains of atypical network activity is difficult, but necessary. Complex socially significant phenomena (economic collapses, stock market crashes, resource depletion, invasive outbreaks, hype waves, panic attacks, and fake news) are accompanied by abrupt threshold transitions for previously seemingly stable processes. We conduct a theoretical classification of unstable states and extreme situations with explosive activity observed in reality. We call the entire possible set of such nonsmooth phenomena permissible for the studied process a nonlinear set of situation scenarios. The problem of situational forecasting and modeling of disturbance waves in the information space of social networks is becoming relevant. The method of trigger functionals makes it possible to identify specific trends in situations of parallel tension growth in contact networks as prognostic indicators and predictive factors for the explosive activation of “hype waves.” The author develops original approaches to computer simulation modeling of extreme events and crisis social and biophysical processes to predict situations where multiple interrelated nonlinear effects arise. Many of the model effects are merely redundant properties of the mathematical apparatus. Discrete models of impulse propagation through the network information space are used for situational forecasting and scenario analysis, but the impact of changes in their parameters is sometimes too great. The main feature of the proposed methods is the idea of delimiting the model parameter intervals for interrelated nonlinear effects and bifurcations, which avoids unnecessary chaos. A method that allows for the descri","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"86 1-4","pages":"59 - 71"},"PeriodicalIF":0.6,"publicationDate":"2026-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147588528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}