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  • Open Access

    ARTICLE

    Designing and Optimization of Fuzzy Sliding Mode Controller for Nonlinear Systems

    Zhe Sun1, Yunrui Bi2, Songle Chen1, Bing Hu1, Feng Xiang3, Yawen Ling1, Zhixin Sun1, ∗

    CMC-Computers, Materials & Continua, Vol.61, No.1, pp. 119-128, 2019, DOI:10.32604/cmc.2019.05274

    Abstract For enhancing the control effectiveness, we firstly design a fuzzy logic based sliding mode controller (FSMC) for nonlinear crane systems. On basis of overhead crane dynamic characteristic, the sliding mode function with regard to trolley position and payload angle. Additionally, in order to eliminate the chattering problem of sliding mode control, the fuzzy logic theory is adopted to soften the control performance. Moreover, aiming at the FSMC parameter setting problem, a DE algorithm based optimization scheme is proposed for enhancing the control performance. Finally, by implementing the computer simulation, the DE based FSMC can effectively More >

  • Open Access

    ARTICLE

    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

    ARTICLE

    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

    ARTICLE

    Kautz Function Based Continuous-Time Model Predictive Controller for Load Frequency Control in a Multi-Area Power System

    A. Parassuram1,*, P. Somasundaram1

    CMES-Computer Modeling in Engineering & Sciences, Vol.117, No.2, pp. 169-187, 2018, DOI:10.31614/cmes.2018.01720

    Abstract A continuous-time Model Predictive Controller was proposed using Kautz function in order to improve the performance of Load Frequency Control (LFC). A dynamic model of an interconnected power system was used for Model Predictive Controller (MPC) design. MPC predicts the future trajectory of the dynamic model by calculating the optimal closed loop feedback gain matrix. In this paper, the optimal closed loop feedback gain matrix was calculated using Kautz function. Being an Orthonormal Basis Function (OBF), Kautz function has an advantage of solving complex pole-based nonlinear system. Genetic Algorithm (GA) was applied to optimally tune More >

  • Open Access

    ARTICLE

    A Bio-Inspired Global Finite Time Tracking Control of Four-Rotor Test Bench System

    Rooh ul Amin1, Irum Inayat2, Li Aijun1, Shahaboddin Shamshirband3,4,*, Timon Rabczuk5

    CMC-Computers, Materials & Continua, Vol.57, No.3, pp. 365-388, 2018, DOI:10.32604/cmc.2018.03757

    Abstract A bio-inspired global finite time control using global fast-terminal sliding mode controller and radial basis function network is presented in this article, to address the attitude tracking control problem of the three degree-of-freedom four-rotor hover system. The proposed controller provides convergence of system states in a pre-determined finite time and estimates the unmodeled dynamics of the four-rotor system. Dynamic model of the four-rotor system is derived with Newton’s force equations. The unknown dynamics of four-rotor systems are estimated using Radial basis function. The bio-inspired global fast terminal sliding mode controller is proposed to provide chattering… More >

  • Open Access

    ABSTRACT

    Physiological Cost Optimization for Bipedal Modeling with Optimal Controller Design

    A. M. Mughal1, K. Iqbal2

    The International Conference on Computational & Experimental Engineering and Sciences, Vol.6, No.4, pp. 215-220, 2008, DOI:10.3970/icces.2008.006.215

    Abstract Human voluntary movements are complex physical phenomenon and there are several physiological factors that control the movement and transient response, steady state position, speed of motion and other characteristics. Many experimentalists described variety of variables important for human balance and movement such as center of mass, center of pressure, ground reaction forces etc. In this study, we discuss a bipedal model for biomechanical sit to stand movement with optimal controller design. The cost optimization for gain scheduling is based upon physiological variables of center of mass, head position, and ground reaction forces. Our simulation results More >

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