Stability and control of the nonlinear system for tractor with N trailer in the presence of slip

In many engineering systems, it is not enough to merge the system paths to zero at infinite time, but the speed of moving these paths to zero is very important. Estimating this speed can be done using exponential functions. This concept is used in exponential stability definition. The purpose of this paper is to design a controller for problem inputs and implement a system of a car with N to a trailer connected to it. This approach is based on the analysis of the Lyapunov stability method. In the given problem, the purpose of conducting and converging the system considering the slip phenomenon as a primitive uncertainty in the system is toward the desired point. Since the trailer tractor system has limitation constraints in the modeling structure, it is difficult to guarantee the stability of a non-holonomic system. Because no controller designed by the control feedback method can continuously and stable ensure the convergence of the system. If this possibility almost dynamic errors, even adaptive controls do not versatile with the operation of the Lyapunov function, especially in the presence of uncertainties, which is a very important factor in system instability, which requires the development of controllers designed to deal with these disturbances. In the simulated results, this paper not only examines the convergence properties, but also shows the ability to control the system by designing a controller in the presence of a slip phenomenon to strengthen the system in the stability debate.

Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics

This paper presents a geometric adaptive position tracking control system for a quadrotor unmanned aerial vehicle. In particular, the attitude control system is designed on the product of the two-dimensional unit sphere and the one-dimensional circle such that the direction of the thrust that is critical for position tracking is controlled independently from the yawing direction that is irrelevant to the position dynamics. Compared against the prior work with coupled attitude controls on the special orthogonal group, the proposed controller prevents large yaw errors from causing an undesirable performance degradation in tracking a position command. Further, the control input is augmented with adaptive control terms to mitigate the effects of disturbances, and it is formulated globally on the spheres to avoid singularities and complexities of local coordinates. The efficacy of the proposed control system is illustrated by both numerical examples and indoor/outdoor flight experiments.

Mathematical views of the fractional Chua's electrical circuit described by the Caputo-Liouville derivative

This paper revisits Chua's electrical circuit in the context of the Caputo derivative. We introduce the Caputo derivative into the modeling of the electrical circuit. The solutions of the new model are proposed using numerical discretizations. The discretizations use the numerical scheme of the Riemann-Liouville integral. We have determined the equilibrium points and study their local stability. The existence of the chaotic behaviors with the used fractional-order has been characterized by the determination of the maximal Lyapunov exponent value. The variations of the parameters of the model into the Chua's electrical circuit have been quantified using the bifurcation concept. We also propose adaptive controls under which the master and the slave fractional Chua's electrical circuits go in the same way. The graphical representations have supported all the main results of the paper.

Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and Ankle Rehabilitation

Background: There is an increasing trend in using robots for medical purposes. One specific area is rehabilitation. Rehabilitation is one of the non-drug treatments in community health which means the restoration of the abilities to maximize independence. It is a prolonged work and costly labor. On the other hand, by using the flexible and efficient robots in rehabilitation area, this process will be more useful for handicapped patients.Methods: In this study, a rule-based intelligent control methodology is proposed to mimic the behavior of a healthy limb in a satisfactory way by a 3-DOF planar robot. Inverse kinematic of the planar robot will be solved by neural networks and control parameters will be optimized by genetic algorithm, as rehabilitation progress.Results: The results of simulations are presented by defining a physiotherapy simple mode on desired trajectory. MATLAB/Simulink is used for simulations. The system is capable of learning the action of the physiotherapist for each patient and imitating this behaviour in the absence of a physiotherapist that can be called robotherapy.Conclusions: In this study, a therapeutic exercise planar 2-DOF robot is designed and controlled for lower-limb rehabilitation. The robot manipulator is controlled by combination of hybrid and adaptive controls. Some safety factors and stability constraints are defined and obtained. The robot is stopped when the safety factors are not satisfied. Kinematics of robot is estimated by an MLP neural network and proper control parameters are achieved using GA optimization

IoT Utilized Gas-Leakage Monitoring System with Adaptive Controls Applicable to Dual Fuel Powered Naval Vessels/Ships: Development & Implementation

Leakage of Liquefied Petroleum Gas and Liquified Natural Gas (LPG/LNG) produces hazardous and toxic impact on humans and other living creatures. The authors developed a system to monitor and control the gas leakage concentration. MQ-6 gas sensor is used for sensing the level of gas concentration in a closed volume. To monitor the consequences of environmental changes an IoT platform hosted by “Thingspeak” platform has been introduced. Both robust and cloud-forwarded controls have been applied to prevent uncontrolled leakage of those gases and auto-ignition. This type of system can be directly applied to the engine chamber/ fuel chamber of the modern marine vessels using dual fuel power cycle with LPG/LNG as secondary fuel-flamer. The results from the experiments clearly indicate satisfactory actuation speed and accuracy. The trials performed by the authors showed about 99% efficiency of signal transmission and actuation.