Nien-Tsu Hu^1,*, Hsiang-Tung Kao¹, Chin-Sheng Chen¹, Shih-Hao Chang²

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074993 - 10 February 2026

Abstract Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering, particularly when both precision and efficiency must be ensured. Conventional control methods are often effective for stabilization but may not directly optimize long-term performance. To address this limitation, this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator. The proposed scheme adopts an actor–critic structure, where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation, and the actor network generates near-optimal control signals in real time. This dual… More >

Cosmin Dumitru, Emanuel Pantelimon, Alexandru Guzu, Georgian Nicolae^*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.072749 - 10 February 2026

Abstract Unmanned aerial vehicles (UAVs), especially quadcopters, have become indispensable in numerous industrial and scientific applications due to their flexibility, low cost, and capability to operate in dynamic environments. This paper presents a complete design and implementation of a compact autonomous quadcopter capable of trajectory tracking, object detection, precision landing, and real-time telemetry via long-range communication protocols. The system integrates an onboard flight controller running real-time sensor fusion algorithms, a vision-based detection system on a companion single-board computer, and a telemetry unit using Long Range (LoRa) communication. Extensive flight tests were conducted to validate the system’s More >

Abdulaziz Almalaq¹, Ambe Harrison^2,*, Ibrahim Alsaleh¹, Abdullah Alassaf¹, Mashari Alangari¹

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.074815 - 29 January 2026

Abstract We present a computer-modeling framework for photovoltaic (PV) source emulation that preserves the exact single-diode physics while enabling iteration-free, real-time evaluation. We derive two closed-form explicit solvers based on the Lambert W function: a voltage-driven V-Lambert solver for high-fidelity I–V computation and a resistance-driven R-Lambert solver designed for seamless integration in a closed-loop PV emulator. Unlike Taylor-linearized explicit models, our proposed formulation retains the exponential nonlinearity of the PV equations. It employs a numerically stable analytical evaluation that eliminates the need for lookup tables and root-finding, all while maintaining limited computational costs and a small… More >

Huda Talib Najm^1,2, Ahmed Sabah Al-Araji³, Nur Syazreen Ahmad^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.071837 - 29 January 2026

Abstract Mobile service robots (MSRs) in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions, including model uncertainties and external disturbances. This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller (NFIDC) with a Feedback Radial Basis Function Neural Network (FRBFNN). The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1. The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.… More >

José Arturo Ramírez-Fernández¹, Henevith G. Méndez-Figueroa¹, Sebastián Ossandón^2,*, Ricardo Galván-Martínez³, Miguel Ángel Hernández-Pérez³, Ricardo Orozco-Cruz³

CMC-Computers, Materials & Continua, Vol.86, No.3, 2026, DOI:10.32604/cmc.2025.072707 - 12 January 2026

Abstract In this study, artificial neural networks (ANNs) were implemented to determine design parameters for an impressed current cathodic protection (ICCP) prototype. An ASTM A36 steel plate was tested in 3.5% NaCl solution, seawater, and NS4 using electrochemical impedance spectroscopy (EIS) to monitor the evolution of the substrate surface, which affects the current required to reach the protection potential (Eprot). Experimental data were collected as training datasets and analyzed using statistical methods, including box plots and correlation matrices. Subsequently, ANNs were applied to predict the current demand at different exposure times, enabling the estimation of electrochemical More >

Sk. A. Shezan^*

Energy Engineering, Vol.123, No.1, 2026, DOI:10.32604/ee.2025.073418 - 27 December 2025

Abstract Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization. However, the high penetration of intermittent renewable sources often causes frequency deviations, voltage fluctuations, and poor reactive power coordination, posing serious challenges to grid stability. Conventional Interconnection Flow Controllers (IFCs) primarily regulate active power flow and fail to effectively handle dynamic frequency variations or reactive power sharing in multi-microgrid networks. To overcome these limitations, this study proposes an enhanced Interconnection Flow Controller (e-IFC) that integrates frequency response balancing and an Interconnection Reactive Power Flow Controller (IRFC) within a unified adaptive… More >

K. Naga Venkata Siva¹, Damodhar Reddy², P. Krishna Murthy³, Kiran Kumar Pulamolu⁴, M. Dharani⁵, T. Venkatakrishnamoorthy^6,*

Energy Engineering, Vol.123, No.1, 2026, DOI:10.32604/ee.2025.072982 - 27 December 2025

Abstract Conventional multilevel inverters often suffer from high harmonic distortion and increased design complexity due to the need for numerous power semiconductor components, particularly at elevated voltage levels. Addressing these shortcomings, this work presents a robust 15-level Packed U Cell (PUC) inverter topology designed for renewable energy and grid-connected applications. The proposed system integrates a sensor less proportional-resonant (PR) controller with an advanced carrier-based pulse width modulation scheme. This approach efficiently balances capacitor voltage, minimizes steady-state error, and strongly suppresses both zero and third-order harmonics resulting in reduced total harmonic distortion and enhanced voltage regulation. Additionally, More >

Mohammad Soleimani Amiri¹, Sahbi Boubaker^2,3,*, Rizauddin Ramli^4,*, Souad Kamel²

CMES-Computer Modeling in Engineering & Sciences, Vol.144, No.3, pp. 3113-3133, 2025, DOI:10.32604/cmes.2025.069167 - 30 September 2025

Abstract Disability is defined as a condition that makes it difficult for a person to perform certain vital activities. In recent years, the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent. However, controlling an exoskeleton for rehabilitation presents challenges due to their non-linear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton. To remedy these problems, this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons, addressing the challenges of nonlinear dynamics and external disturbances. The proposed controller integrated… More >

Geetanjali Dei^1,2, Deepak Kumar Gupta¹, Binod Kumar Sahu², Amitkumar V. Jha³, Bhargav Appasani^3,*, Nicu Bizon^4,5,*

Energy Engineering, Vol.122, No.8, pp. 3399-3431, 2025, DOI:10.32604/ee.2025.067357 - 24 July 2025

Abstract This paper presents an innovative and effective control strategy tailored for a deregulated, diversified energy system involving multiple interconnected area. Each area integrates a unique mix of power generation technologies: Area 1 combines thermal, hydro, and distributed generation; Area 2 utilizes a blend of thermal units, distributed solar technologies (DST), and hydro power; and Third control area hosts geothermal power station alongside thermal power generation unit and hydropower units. The suggested control system employs a multi-layered approach, featuring a blended methodology utilizing the Tilted Integral Derivative controller (TID) and the Fractional-Order Integral method to enhance… More >

Abdullah M. Alnajim^1,*, Faisal Mohammed Alotaibi^2,#, Sheroz Khan^3,#

CMC-Computers, Materials & Continua, Vol.83, No.3, pp. 4515-4535, 2025, DOI:10.32604/cmc.2025.063139 - 19 May 2025

Abstract Distributed denial of service (DDoS) attacks are common network attacks that primarily target Internet of Things (IoT) devices. They are critical for emerging wireless services, especially for applications with limited latency. DDoS attacks pose significant risks to entrepreneurial businesses, preventing legitimate customers from accessing their websites. These attacks require intelligent analytics before processing service requests. Distributed denial of service (DDoS) attacks exploit vulnerabilities in IoT devices by launching multi-point distributed attacks. These attacks generate massive traffic that overwhelms the victim’s network, disrupting normal operations. The consequences of distributed denial of service (DDoS) attacks are typically… More >