International Journal of Robotics and Control Systems

Journal Information
EISSN : 2775-2658
Published by: ASCEE Publications (10.31763)
Total articles ≅ 29
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International Journal of Robotics and Control Systems, Volume 1, pp 226-243; https://doi.org/10.31763/ijrcs.v1i3.351

Abstract:
The inherent uncertainties in a Single Machine Infinite Bus System (SMIBS) are governed by unmodeled dynamics or large disturbances such as the system's faults. The existence of these uncertainties demands robust controllers to guarantee the system's asymptotic stability under such exacting conditions. In this work, we propose an Adaptive Sliding Mode Control (ASMC) design implemented on a fifth-order nonlinear SMIBS to handle those uncertainties without prior knowledge about its upper bounds. We develop the ASMC with gains of two nested adaptive layers to asymptotically stabilize the system's internal states, the machine's terminal voltage, and power angle within a region of unknown bounded uncertainties while mitigating the chattering phenomena associated with conventional Sliding Mode Control (SMC). To verify the design's effectiveness and prove the conducted Lyapunov theoretical stability analysis, we simulate the occurrence of a large disturbance represented by a 3-phase fault at the system's universal bus. The results show that the ASMC can successfully achieve asymptotic stable output errors and stabilizing the SMIBS internal states after the clearance of the fault. Moreover, the ASMC noticeably outperforms the SMC in chattering mitigation, where the ASMC's signal is significantly smoother than that of the SMC.
International Journal of Robotics and Control Systems, Volume 1, pp 326-337; https://doi.org/10.31763/ijrcs.v1i3.426

Abstract:
This paper investigates a novel robust fractional adaptive control design for a class of fractional-order uncertain linear systems. Based on the Model Reference Adaptive Control (MRAC) configuration, the objective of the proposed controller is to ensure the output of the controlled plant to track the output of a given reference model system, while maintaining the overall closed-loop stability despite external disturbances and model uncertainties. An adaptive fuzzy logic controller is employed to eliminate unknown dynamics and disturbance. Lyapunov stability analysis demonstrates and verifies the desired fractional adaptive control system stability and tracking performance. Numerical simulation results illustrate the efficiency of the proposed adaptive fuzzy control strategy to deal with uncertain and disturbed fractional-order linear systems.
Luong Thuy Anh, , Vu Van Hoc
International Journal of Robotics and Control Systems, Volume 1, pp 256-268; https://doi.org/10.31763/ijrcs.v1i3.395

Abstract:
In this paper, we propose a modified version of the Proportional Integral Derivative (PID)-type iterative learning algorithm. It is very simple to implement on a digital control device for tracking control a continuous-time system. Matlab software is used to model and simulate control algorithms. The simulative application of it to control a gearing transmission system, such that its output response follows the desired trajectory, is then carried out computationally. Obtained studying results proves that this proposed iterative learning algorithm has provided a good output tracking behavior as expected and which is robust in the sense of reducing external disturbance effects.
Xu Wei-Hong, , Zhong Chun-Lai
International Journal of Robotics and Control Systems, Volume 1, pp 308-325; https://doi.org/10.31763/ijrcs.v1i3.363

Abstract:
The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.
, G. Serges Mbouna Ngueuteu
International Journal of Robotics and Control Systems, Volume 1, pp 285-307; https://doi.org/10.31763/ijrcs.v1i3.422

Abstract:
Nonlinear analysis of a forced geometrically nonlinear Hinged-Clamped beam involving three modes interactions with internal resonance and submitted to thermal and mechanical loadings is investigated. Based on the extended Hamilton’s principle, the PDEs governing the thermoelastic vibration of planar motion is derived. Galerkin’s orthogonalization method is used to reduce the governing PDEs of motion into a set of nonlinear non-autonomous ordinary differential equations. The system is solved for the three modes involved by the use of the multiple scales method for amplitudes and phases. For steady states responses, the Newton-Raphson shooting technique is used to solve the three systems of six parametric nonlinear algebraic equations obtained. Results are presented in terms of influences of temperature variations on the response amplitudes of different substructures when each of the modes is excited. It is observed for all substructures and independent of the mode excited a shift within the frequency axis of the temperature influenced amplitude response curves on either side of the temperature free-response curve. Moreover, it is found that thermal loads diversely influence the interacting substructures. Depending on the directly excited mode, higher oscillation amplitudes are found in some substructures under negative temperature difference, while it is observed in others under positive temperature change and in some others for temperature free-response curves.
Elham Rahimi Khoygani, Mohammad Reza Rahimi Khoygani,
International Journal of Robotics and Control Systems, Volume 1, pp 338-354; https://doi.org/10.31763/ijrcs.v1i3.442

Abstract:
Diabetes is an increasing health problem all around the world, particularly Type 1 diabetes (T1D), people with T1D require precise glycemic control, due to a shortage of insulin production. This paper introduces a new adaptive neural observer-based controller for a class of nonlinear T1D systems. A solution is proposed to guarantees practical tracking of a desired glucose concentration by a new adaptive neural observer-based control strategy. One of the intelligence procedures is the network under online learning that the mentioned controller is learned by a back-propagation algorithm. This network is a significant class of feed-forward artificial neural networks that maps a set of inputs into a set of proper outputs. Guarantee stability of observer and controller by Lyapunov direct and training online are the merit of the method. Also, despite the presence of internal and external uncertainties, the multilayer perceptron neural observer-based controller is robust. The performance of the proposed method is hopeful based on the results.
International Journal of Robotics and Control Systems, Volume 1, pp 369-377; https://doi.org/10.31763/ijrcs.v1i3.441

Abstract:
It is obvious that the current era has received much attention in the fields of science and technology, besides the continuous endeavor to provide environmentally friendly and resource-saving alternatives for conventional energy conversion systems. The rapid development of Wind Energy Conversion Systems (WECS) has made Permanent Magnet Synchronous Generator (PMSG) a primer choice because of its advantages. The current trend on WECS necessitates wind turbines to maintain continuous operation during voltage drops, which is referred to as Low Voltage Ride Through (LVRT). The PMSG control technique is a widely used approach for improving conversion efficiency as well as LVRT capability. This paper provides LVRT and power enhancement for grid-connected PMSG based WECS using control techniques. The LVRT capability has been investigated by using PI and Residue controllers. The simulation results show improved active power delivery and better LVRT capability during voltage dips when the Residue controller is implemented.
International Journal of Robotics and Control Systems, Volume 1, pp 244-255; https://doi.org/10.31763/ijrcs.v1i3.380

Abstract:
The electronic implementation, synchronization, and control of hyperchaos in a five-dimensional (5D) autonomous homopolar disc dynamo are investigated in this paper. The hyperchaotic behavior is found numerically using phase portraits and time series in 5D autonomous homopolar disc dynamo is ascertained on Orcad-PSpice software. The synchronization of the unidirectional coupled 5D hyperchaotic system is also studied by using the feedback control method. Finally, hyperchaos found in 5D autonomous homopolar disc dynamo is suppressed thanks to the designed single feedback. Numerical simulations and electronic implementation reveal the effectiveness of the single proposed control.
International Journal of Robotics and Control Systems, Volume 1, pp 378-389; https://doi.org/10.31763/ijrcs.v1i3.464

Abstract:
Advancement in technology has resulted in increased use of electrical energy. The trend of using energy-saving appliances is also increased considerably. Harmonic currents have been increased in power systems due to the large-scale use of nonlinear loads. Shunt Active Power Filter (SAPF) is the most widely used technique for the compensation of current harmonics. Under adverse grid conditions performance of SAPF is affected badly. In this paper, a modified synchronous reference frame theory is proposed for current reference generation by incorporating an advanced phase-locked loop technique for the estimation of frequency and phase. The proposed approach results in an accurate extraction of reference current in the presence of various grid disturbances. Matlab/Simulink environment is used for evaluating the performance. The results achieved show excellent performance of the proposed technique in terms of reducing harmonics distortion and dynamic response. The total harmonics distortion of the compensated source current is reduced to a value well within the limits of the IEEE-519 standard.
International Journal of Robotics and Control Systems, Volume 1, pp 269-284; https://doi.org/10.31763/ijrcs.v1i3.408

Abstract:
An electromechanical robot based on the modified slider-crank mechanism with a damped spring hung at its plate terminal is investigated. The robot is first used for actuation operation and for energy harvesting purposes thereafter. Mathematical modeling in both cases is proposed. As an actuator, the robot is powered with a DC motor, and the effect of the voltage supply on the whole system dynamics is found out. From the numerical simulation based on the fourth-order Runge-Kutta algorithm, results show various dynamics of the subsystems, including periodicity, multi-periodicity, and chaos as depicted by the bifurcation diagrams. Applications can be found in industrial processes like sieving, shaking, cutting, pushing, crushing, or grinding. Regarding the case of the robot functioning as an energy harvester, two different configurations of the electrical circuit for both single and double loops are set up. The challenge is to determine the best configuration for the high performance of the harvester. It comes from theoretical predictions and experimental data that the efficiency of the robot depends on the range values of the electrical load resistance RL. The double loop circuit is preferable for the low values of RL50 Ohm) while the single loop is convenient for high values of RL ≥ 50 Ohm.
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