Li Ding^1,*, Rui Ma¹, Zhengtian Wu², Rongzhi Qi¹, Wenrui Ruan¹

CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.1, pp. 441-464, 2023, DOI:10.32604/cmes.2022.022642

Abstract This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode (FNTSM) manifold and a linear extended state observer (LESO). The developed control method applies an FNTSM to ensure the tracking performance’s control accuracy, and an LESO to estimate the system’s unmodeled dynamics and external disturbances. Additionally, an improved salp swarm algorithm (ISSA) is employed to parameter tune the suggested controller by integrating the salp swarm technique with a cloud model. This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex… More >

G. Pandiaraj^*, S. Muralidharan

Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463

Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a… More >

Maâmar Bettayeb^1,3, Rachid Mansouri^2,*, Ubaid M. Al-Saggaf^3,4, Abdulrahman U. Alsaggaf^3,4, Mohammed Moinuddin^3,4

CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 3057-3079, 2022, DOI:10.32604/cmc.2022.025751

Abstract Linear active disturbance rejection control (LADRC) is a powerful control structure thanks to its performance in uncertainties, internal and external disturbances estimation and cancelation. An extended state observer (ESO) based controller is the key to the LADRC method. In this article, the LADRC scheme combined with a fractional-order integral action (FOI-LADRC) is proposed to improve the robustness of the standard LADRC. Using the robust closed-loop Bode’s ideal transfer function (BITF), an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC scheme. Numerical simulations and experimental results on a cart-pendulum system will illustrate the effectiveness… More >

Ibrahim M. Mehedi^1,2,*, Abdulah Jeza Aljohani^1,2, Ubaid M. Al-Saggaf^1,2, Ahmed I. Iskanderani¹, Thangam Palaniswamy¹, Mohamed Mahmoud³, Mohammed J. Abdulaal¹, Muhammad Bilal^1,2, Waleed Alasmary⁴

CMC-Computers, Materials & Continua, Vol.73, No.1, pp. 453-463, 2022, DOI:10.32604/cmc.2022.022921

Abstract This paper describes a system designed for linear servo cart systems that employs an integral-based Linear Active Disturbance Rejection Control (ILADRC) scheme to detect and respond to disturbances. The upgrade in this control technique provides extensive immunity to uncertainties, attenuation, internal disturbances, and external sources of noise. The fundamental technology base of LADRC is Extended State Observer (ESO). LADRC, when combined with Integral action, becomes a hybrid control technique, namely ILADRC. Setpoint tracking is based on Bode’s Ideal Transfer Function (BITF) in this proposed ILADRC technique. This proves to be a very robust and appropriate pole placement scheme. The proposed… More >

Ibrahim M. Mehedi^1,2,*, Abdulah Jeza Aljohani^1,2, Md Mottahir Alam¹, Mohamed Mahmoud³, Mohammed J. Abdulaal¹, Muhammad Bilal^1,2, Waleed Alasmary⁴

CMC-Computers, Materials & Continua, Vol.72, No.2, pp. 2341-2355, 2022, DOI:10.32604/cmc.2022.022993

Abstract The Ball and beam system (BBS) is an attractive laboratory experimental tool because of its inherent nonlinear and open-loop unstable properties. Designing an effective ball and beam system controller is a real challenge for researchers and engineers. In this paper, the control design technique is investigated by using Intelligent Dynamic Inversion (IDI) method for this nonlinear and unstable system. The proposed control law is an enhanced version of conventional Dynamic Inversion control incorporating an intelligent control element in it. The Moore-Penrose Generalized Inverse (MPGI) is used to invert the prescribed constraint dynamics to realize the baseline control law. A sliding… More >

Ben Attia Selma^*, Ouerfelli Houssem Eddine, Salhi Salah

Intelligent Automation & Soft Computing, Vol.32, No.2, pp. 795-810, 2022, DOI:10.32604/iasc.2022.020435

Abstract This study addressed sufficient conditions for the robust monotonic convergence of repetitive discrete-time linear parameter varying systems, with the parameter variation rate bound. The learning law under consideration is an anticipatory iterative learning control. Of particular interest in this study is that the iterations can eliminate the influence of disturbances. Based on a simple quadratic performance function, a sufficient condition for the proposed learning algorithm is presented in terms of linear matrix inequality (LMI) by imposing a polytopic structure on the Lyapunov matrix. The set of LMIs to be determined considers the bounds on the rate of variation of the… More >

Ibrahim M. Mehedi^1,2,*, Rachid Mansouri³, Ubaid M. Al-Saggaf^1,2, Ahmed I. M. Iskanderani¹, Maamar Bettayeb⁴, Abdulah Jeza Aljohani^1,2, Thangam Palaniswamy¹, Shaikh Abdul Latif⁵, Abdul Latif⁶

CMC-Computers, Materials & Continua, Vol.70, No.3, pp. 5133-5142, 2022, DOI:10.32604/cmc.2022.021018

Abstract A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper. With this control scheme, the performance against disturbances, uncertainties, and attenuation is enhanced. Linear active disturbance rejection control (LADRC) is mainly based on an extended state observer (ESO) technology. A fractional integral (FOI) action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC. Incorporating this FOI action improves the robustness of the standard LADRC. The set-point tracking of the proposed FO-LADRC scheme is designed by Bode's ideal transfer function (BITF) based robust closed-loop concept, an appropriate pole… More >

Yanzan Han^1,*, Huawen Zhang¹, Zengfang Shi¹, Shuang Liang²

Computer Systems Science and Engineering, Vol.40, No.3, pp. 1043-1057, 2022, DOI:10.32604/csse.2022.017742

Abstract Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. It can ensure the stability… More >

Rihem Farkh^1,2,*, Khaled A. Aljaloud¹, Moufida Ksouri², Faouzi Bouani²

Computer Systems Science and Engineering, Vol.36, No.2, pp. 307-321, 2021, DOI:10.32604/csse.2021.014334

Abstract Proportional-Integral-Derivative control system has been widely used in industrial applications. For uncertain and unstable systems, tuning controller parameters to satisfy the process requirements is very challenging. In general, the whole system’s performance strongly depends on the controller’s efficiency and hence the tuning process plays a key role in the system’s response. This paper presents a robust optimal Proportional-Integral-Derivative controller design methodology for the control of unstable delay system with parametric uncertainty using a combination of Kharitonov theorem and genetic algorithm optimization based approaches. In this study, the Generalized Kharitonov Theorem (GKT) for quasi-polynomials is employed for the purpose of designing… More >