Qais A. Khasawneh^1,3, Mohammad Abdel Kareem Jaradat^1,2, 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 >

A. Parassuram^1,*, 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 >

Rooh ul Amin¹, Irum Inayat², Li Aijun¹, Shahaboddin Shamshirband^3,4,*, 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 >

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 >