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  • Open Access


    The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones

    Pi-Yun Chen, Guan-Yu Chen*

    Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 489-500, 2020, DOI:10.32604/iasc.2020.013925

    Abstract The objective of this paper is to design a new Quadrotor Autonomous Following System, and the main three contents are as follows: Object tracking, quadrotor attitude determination and the controller. The image tracking portion performs object detection and keeps tracking by way of the Tracking-Learning-Detection (TLD), and gets the information of the target motion estimation positions. The attitude determination of the Quadrotor has adopted the Inertial Navigation System and sensors of the accelerometer, gyroscope and electronic compass, etc. for retrieving the information. The Kalman filter is also utilized for estimating the current values in order More >

  • Open Access


    Optimized PID Controller Using Adaptive Differential Evolution with Meanof-pbest Mutation Strategy

    Ti-Hung Chen1, Ming-Feng Yeh2,*

    Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 407-420, 2020, DOI:10.32604/iasc.2020.013917

    Abstract On the basis of JADE (adaptive differential evolution with optional external archive) and the modified differential evolution with p-best crossover (MDE_pBX), this study attempts to propose a modified mutation strategy termed "DE/(pbest)/1" for the differential evolution (DE) algorithm, where “(pbest)” represents the mean of p top-best vectors. Two modified parameter adaptation mechanisms are also proposed to update the crossover rate and the scale factor, respectively, in an adaptive manner. The DE variant with the proposed mutation strategy and two modified adaptation mechanisms is termed adaptive differential evolution with mean-of-pbest mutation strategy, denoted by ADE_pBM is comparable to or More >

  • Open Access


    Quad-Rotor Directional Steering System Controller Design Using Gravitational Search Optimization

    M. A. Kamela, M. A. Abidob, Moustafa Elshafeic

    Intelligent Automation & Soft Computing, Vol.24, No.4, pp. 795-805, 2018, DOI:10.1080/10798587.2017.1342414

    Abstract Directional Steering System (DSS) has been established for well drilling in the oilfield in order to accomplish high reservoir productivity and to improve accessibility of oil reservoirs in complex locations. In this paper, a novel feedback linearization controller to cancel the nonlinear dynamics of a DSS is proposed. The proposed controller design problem is formulated as an optimization problem for optimal settings of the controller feedback gains. Gravitational Search Algorithm (GSA) is developed to search for optimal settings of the proposed controller. The objective function considered is to minimize the tracking error and drilling efforts. More >

  • Open Access


    Active Control of a Piezoelectric Actuated Four-Bar Mechanism Deployed in Robotics Applications

    Qais A. Khasawneh1,3, Mohammad Abdel Kareem Jaradat1,2, Mohammad Al-Shabi4, Hala Khalaf1

    Intelligent Automation & Soft Computing, Vol.24, No.2, pp. 443-457, 2018, DOI:10.31209/2018.100000008

    Abstract This work presents a new micro-positioning system that is implemented in an inchworm robot to move into desired locations. The system consists of four-bar mechanism; one link is fixed, and each one of the remaining links carries a piezoelectric actuator (PZT). PZTs are specifically chosen since they provide fast response and small displacements; up to ±30 µm for ±100 Volts. The system’s mathematical model is derived and is numerically simulated by MATLAB. Three fuzzy PI controllers, which are tuned automatically by genetic algorithm, are designed to control the system. Results indicate an error of less More >

  • Open Access


    BDI Agent and QPSO-based Parameter Optimization for a Marine Generator Excitation Controller

    Wei Zhang1, Weifeng Shi2, Bing Sun3

    Intelligent Automation & Soft Computing, Vol.25, No.3, pp. 423-431, 2019, DOI:10.31209/2018.100000045

    Abstract An intelligent optimization algorithm for a marine generator excitation controller is proposed to improve dynamic performance of shipboard power systems. This algorithm combines a belief–desire–intention agent with a quantum-behaved particle swarm optimization (QPSO) algorithm to optimize a marine generator excitation controller. The shipboard zonal power system is simulated under disturbance due to load change or severe fault. The results show that the proposed optimization algorithm can improve marine generator stability compared with conventional excitation controllers under various operating conditions. Moreover, the proposed intelligent algorithm is highly robust because its performance is insensitive to the accuracy More >

  • Open Access


    Adaptive Hybrid Control Scheme for Controlling the Position of Coaxial Tri‐ Rotor UAS

    Rana Javed Masood1, DaoBo Wang1, Zain Anwar Ali2, Muhammad Anwar2

    Intelligent Automation & Soft Computing, Vol.25, No.2, pp. 295-304, 2019, DOI:10.31209/2018.100000009

    Abstract In this article, adaptive hybrid control scheme is proposed for controlling the position of a coaxial tri-rotor unmanned aerial system (UAS) in the presence of input saturation and external wind disturbance. The adaptive hybrid controller consists of model reference adaptive control with integral feedback (MRACI) and proportional integral derivative (PID) controller. The adaptive controller deals with the flight dynamics uncertainties and PID controller is used for tuning the gains of MRACI whereas the stability of system is verified by Lyapunov stability criterion. The integrator improves the order of the system thereby improving the convergence rate… More >

  • Open Access


    Identifying and Verifying Vulnerabilities through PLC Network Protocol and Memory Structure Analysis

    Joo-Chan Lee1, Hyun-Pyo Choi1, Jang-Hoon Kim1, Jun-Won Kim1, Da-Un Jung1, Ji-Ho Shin1, Jung-Taek Seo1, *

    CMC-Computers, Materials & Continua, Vol.65, No.1, pp. 53-67, 2020, DOI:10.32604/cmc.2020.011251

    Abstract Cyberattacks on the Industrial Control System (ICS) have recently been increasing, made more intelligent by advancing technologies. As such, cybersecurity for such systems is attracting attention. As a core element of control devices, the Programmable Logic Controller (PLC) in an ICS carries out on-site control over the ICS. A cyberattack on the PLC will cause damages on the overall ICS, with Stuxnet and Duqu as the most representative cases. Thus, cybersecurity for PLCs is considered essential, and many researchers carry out a variety of analyses on the vulnerabilities of PLCs as part of preemptive efforts More >

  • Open Access


    Vibration Performance, Stability and Energy Transfer of Wind Turbine Tower via Pd Controller

    Y. S. Hamed1, 2, *, Ayman A. Al3, 4, B. Sale3, 4, Ageel F. Alogla3, Awad M. Aljuaid3, Mosleh M. Alharthi0F5

    CMC-Computers, Materials & Continua, Vol.64, No.2, pp. 871-886, 2020, DOI:10.32604/cmc.2020.08120

    Abstract In this paper, we studied the vibration performance, energy transfer and stability of the offshore wind turbine tower system under mixed excitations. The method of multiple scales is utilized to calculate the approximate solutions of wind turbine system. The proportional-derivative controller was applied for reducing the oscillations of the controlled system. Adding the controller to single degree of freedom system equation is responsible for energy transfers in offshore wind turbine tower system. The steady state solution of stability at worst resonance cases is studied and examined. The offshore wind turbine system behavior was studied numerically More >

  • Open Access


    Terminal Sliding Mode Controllers for Hydraulic Turbine Governing System with Bifurcated Penstocks under Input Saturation

    Ji Liang1, Zhihuan Chen2,*, Xiaohui Yuan1,3,*, Binqiao Zhang3, Yanbin Yuan4

    CMES-Computer Modeling in Engineering & Sciences, Vol.123, No.2, pp. 603-629, 2020, DOI:10.32604/cmes.2020.09328

    Abstract Terminal sliding mode controller method is introduced to enhance the regulation performance of the hydraulic turbine governing system (HTGS). For the purpose of describing the characteristics of controlled system and deducing the control rule, a nonlinear mathematic model of hydraulic turbine governing system with bifurcated penstocks (HTGSBF) under control input saturation is established, and the input/output state linearization feedback approach is used to obtain the relationship between turbine speed and controller output. To address the control input saturation problem, an adaptive assistant system is designed to compensate for controller truncation. Numerical simulations have been conducted… More >

  • Open Access


    Experimental Investigation and Semi-Active Control Design of A Magnetorheological Engine Mount

    Seyed Salman Hosseini1, Javad Marzbanrad2,*

    Sound & Vibration, Vol.53, No.6, pp. 297-308, 2019, DOI:10.32604/sv.2019.07434

    Abstract In this paper; the dynamic characteristics of a semi-active magnetorheological fluid (MRF) engine mount are studied. To do so, the performance of the MRF engine mount is experimentally examined in higher frequencies (50~170 Hz) and the various amplitudes (0.01 ~ 0.2 mm). In such an examination, an MRF engine mount along with its magnetically biased is fabricated and successfully measured. In addition, the natural frequencies of the system are obtained by standard hammer modal test. For modelling the behavior of the system, a mass-spring-damper model with tuned PID coefficients based on Pessen integral of absolute More >

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