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  • Open Access


    A Novel ANFIS Based SMC with Fractional Order PID Controller

    A. Jegatheesh1,*, M. Germin Nisha2, N. Kopperundevi3

    Intelligent Automation & Soft Computing, Vol.36, No.1, pp. 745-760, 2023, DOI:10.32604/iasc.2023.028011

    Abstract Interacting The highest storage capacity of a circular tank makes it popular in process industries. Because of the varying surface area of the cross-sections of the tank, this two-tank level system has nonlinear characteristics. Controlling the flow rate of liquid is one of the most difficult challenges in the production process. This proposed effort is critical in preventing time delays and errors by managing the fluid level. Several scholars have explored and explored ways to reduce the problem of nonlinearity, but their techniques have not yielded better results. Different types of controllers with various techniques… More >

  • Open Access


    Lyapunov-Redesign and Sliding Mode Controller for Microprocessor Based Transfemoral Prosthesis

    Ali Murtaza1, Muhammad Usman Qadir1, Muhammad Awais Khan1, Izhar ul Haq1,*, Kamran Shah1, Nizar Akhtar2

    Intelligent Automation & Soft Computing, Vol.31, No.3, pp. 1887-1899, 2022, DOI:10.32604/iasc.2022.020006

    Abstract Transfemoral prostheses have evolved from mechanical devices to microprocessor-based, electronically controlled knee joints, allowing amputees to regain control of their limbs. For improved amputee experience at varying ambulation rates, these devices provide controlled damping throughout the swing and stance phases of the gait cycle. Commercially available microprocessor-based prosthetic knee (MPK) joints use linear controllers, heuristic-based methods, and finite state machine based algorithms to track the refence gait cycle. However, since the amputee experiences a variety of non-linearities during ambulation, such as uneven terrains, walking backwards and climbing stairs, therefore, traditional controllers produces error, abnormal movements,… More >

  • Open Access


    SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

    Abdelatif Oussar1,*, Abdelmoumen Ferrag1, Mohamed Guiatni1, Mustapha Hamerlain2

    Intelligent Automation & Soft Computing, Vol.29, No.2, pp. 467-495, 2021, DOI:10.32604/iasc.2021.01000

    Abstract This paper presents the design of a robust architecture for the tracking of an unmanned ground vehicle (UGV) by an unmanned aerial vehicle (UAV). To enhance the robustness of the ground vehicle in the face of external disturbances and handle the non-linearities due to inputs saturation, an integral sliding mode controller was designed for the task of trajectory tracking. Stabilization of the aerial vehicle is achieved using an integral-backstepping solution. Estimation of the relative position between the two agents was solved using two approaches: the first solution (optimal) is based on a Kalman filter (KF) More >

  • Open Access


    Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor

    Rabii Fessi1, Hegazy Rezk2,3,*, Soufiene Bouallègue1,4

    CMC-Computers, Materials & Continua, Vol.68, No.2, pp. 2265-2282, 2021, DOI:10.32604/cmc.2021.017237

    Abstract The research on Unmanned Aerial Vehicles (UAV) has intensified considerably thanks to the recent growth in the fields of advanced automatic control, artificial intelligence, and miniaturization. In this paper, a Grey Wolf Optimization (GWO) algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode (FTSM) controllers for a quadrotor UAV. A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone. Controllers for altitude, attitude, and position dynamics become separately designed and tuned. To work around the repetitive and time-consuming trial-error-based procedures,… 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


    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


    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 >

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