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  • Open Access


    Energy Saving Control Approach for Trajectory Tracking of Autonomous Mobile Robots

    Yung-Hsiang Chen1, Yung-Yue Chen2, Shi-Jer Lou3, Chiou-Jye Huang4,*

    Intelligent Automation & Soft Computing, Vol.31, No.1, pp. 357-372, 2022, DOI:10.32604/iasc.2022.018663

    Abstract This research presents an adaptive energy-saving H2 closed-form control approach to solve the nonlinear trajectory tracking problem of autonomous mobile robots (AMRs). The main contributions of this proposed design are as follows: closed-form approach, simple structure of the control law, easy implementation, and energy savings through trajectory tracking design of the controlled AMRs. It is difficult to mathematically obtained this adaptive H2 closed-form solution of AMRs. Therefore, through a series of mathematical analyses of the trajectory tracking error dynamics of the controlled AMRs, the trajectory tracking problem of AMRs can be transformed directly into a solvable problem, and an adaptive… 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) the second solution (robust) uses… More >

  • Open Access


    Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories

    Zhigang Deng1,*, Zhenzhong Chu2, Zaman Mohammed Tousif3

    Intelligent Automation & Soft Computing, Vol.26, No.6, pp. 1503-1515, 2020, DOI:10.32604/iasc.2020.010798

    Abstract Trajectory tracking control can be considered as one of the main researches of unmanned underwater vehicles (UUV). The bio-inspired neurodynamics model was used to make the output continuous and smooth for the inflection points to deal with the speed jump of the conventional tracking controller for discrete trajectories. A horizon-plane trajectory tracking control law is designed using the bio-inspired neurodynamics model and sliding-mode method without chattering. Finally, the simulation of the mentioned two methods is compared with the results showing this as effective and feasible. More >

  • Open Access


    Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm

    G. Mousa1, Amr Almaddah2, Ayman A. Aly3,*

    CMC-Computers, Materials & Continua, Vol.66, No.2, pp. 2005-2023, 2021, DOI:10.32604/cmc.2020.012580

    Abstract About 10–20% of every country’s population is disable. There are at least 650 million people with a kind of disability worldwide. Assistance and support are perquisites for many handicap people for participating in society. Electric powered wheelchairs provide efficient mobility to motor impaired persons. In this paper a smart controller of a wheel chair mobile robot using Particle Swarm Optimization Proportional controller (PSO-P) was proposed where (PSO) algorithm was utilized to tune the proportional controller’s gains for each axis. Aiming to improve wheelchair tracking trajectory, a kinematic model of a robot with linear and angular velocities parameters was developed. The… More >

  • Open Access


    Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization

    Shifu Xu*, Yanan Jiang

    CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 401-415, 2020, DOI:10.32604/cmes.2020.09608

    Abstract Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize, the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied. The kinematic diagram of redundant manipulator is created, to derive the equation of motion trajectory of redundant manipulator end. Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy. Based on the tracking ellipse of redundant manipulator, the tracking shape of redundant manipulator is determined with the overall tracking index as the second index, and the optimization method of tracking index is… More >

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