International Journal of Robotics and Control Systems
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Published By ASCEE Publications

2775-2658
Updated Friday, 22 October 2021

2021 ◽  
Vol 1 (3) ◽  
pp. 308-325
Author(s):  
Xu Wei-hong ◽  
Cao Li-jia ◽  
Zhong Chun-lai

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.


2021 ◽  
Vol 1 (2) ◽  
pp. 209-225
Author(s):  
Magdi Sadek Mahmoud ◽  
Ali H. AlRamadhan

This paper will focus on optimizing parameters of sliding mode controllers (SMC) for hybrid stepper motor models simulated in Matlab/Simulink. The main objective is to achieve a smooth transient and robust, steady-state to track reference rotor position when the stepper motor is subjected to load disturbances. Two different structures of SMC controllers will be studied, which are based on the flat system concept that is applicable to the stepper motor model. The hassle to determine controller parameters will be optimized using the Simulink Response Optimizer application.  The performance of the controllers will be evaluated by considering load torque and variation in the model parameters. Although the results showed that an open-loop controller could move the rotor to the desired position, however, the transient response had undesired oscillations before the output settled at the steady state. The response was improved by optimizing SMC controllers’ parameters to meet the desire step response requirement. Despite both SMC methods have successfully tracked the reference, there are some challenges to deal with each method in regard to the state measurements, the number of optimized controllers’ parameters, and the scattering of control inputs.


2021 ◽  
Vol 1 (2) ◽  
pp. 198-208
Author(s):  
Rolande Tsapla Fotsa ◽  
André Rodrigue Tchamda ◽  
Alex Stephane Kemnang Tsafack ◽  
Sifeu Takougang Kingni

The microcontroller implementation, chaos control, synchronization, and antisynchronization of the nonlinear resistive-capacitive-inductive shunted Josephson junction (NRCISJJ) model are reported in this paper. The dynamical behavior of the NRCISJJ model is performed using phase portraits, and time series. The numerical simulation results reveal that the NRCISJJ model exhibits different shapes of hidden chaotic attractors by varying the parameters. The existence of different shapes of hidden chaotic attractors is confirmed by microcontroller results obtained from the microcontroller implementation of the NRCISJJ model. It is theoretically demonstrated that the two designed single controllers can suppress the hidden chaotic attractors found in the NRCISJJ model. Finally, the synchronization and antisynchronization of unidirectional coupled NRCISJJ models are studied by using the feedback control method.  Thanks to the Routh Hurwitz stability criterion, the controllers are designed in order to control chaos in JJ models and achieved synchronization and antisynchronization between coupled NRCISJJ models. Numerical simulations are shown to clarify and confirm the control, synchronization, and antisynchronization.


2021 ◽  
Vol 1 (2) ◽  
pp. 177-185
Author(s):  
Md Rasel Sarkar ◽  
Sabariah Julai ◽  
Mst Jesmin Nahar ◽  
Moslem Uddin ◽  
Mahmudur Rahman ◽  
...  

An experimental study was conducted to study the effects of flow uniformity on vibration and power generation of a small vertical axis wind turbine (VAWT). Previous studies have confirmed that one of the sources of vibration in the turbine is due to aerodynamic forces, which are due to incident wind. Firstly, understanding vibration is essential before proceeding to the measurements. In this experiment, further understand the vibrations of the turbine in operation, the operating deflection shape (ODS) technique was used. A wind tunnel and flow conditioner were fabricated. Experimental modal analysis (EMA) was conducted, and the dynamic characteristics are gathered. The ODS was conducted for operating the turbine at different speeds, with and without the flow conditioner. Results from EMA and ODS are correlated to explain the behavior of structures. In conclusion, the flow conditioner tested did have a big impact on the response of the structure in terms of vibration up to 30% indifference, but not so much in power generated about 2% indifference.


2021 ◽  
Vol 1 (2) ◽  
pp. 186-197
Author(s):  
Mst Jesmin Nahar ◽  
Md Rasel Sarkar ◽  
Moslem Uddin ◽  
Md Faruk Hossain ◽  
Md Masud Rana ◽  
...  

This paper presents the design and execution of a solar tracker system devoted to photovoltaic (PV) conversion panels. The proposed single-axis solar tracker is shifted automatically based on the sunlight detector or tracking sensor. This system also removes incident sunlight overlapping from sensors that are inside the sunlight tracking system. The Light Dependent Resistor (LDR) is used as a sensor to sense the intensity of light accurately. The sensors are placed at a certain distance from each other in the tracker system to avoid sunlight overlapping for maximum power production. The total system is designed by using a microcontroller (PIC16F877A) as a brain to control the whole system. The solar panel converts sunlight into electricity. The PV panel is fixed with a vertical axis of the tracker. This microcontroller will compare the data and rotate a solar panel via a stepper motor in the right direction to collect maximum photon energy from sunlight. From the experimental results, it can be determined that the automatic (PV solar tracker) sun tracking system is 72.45% more efficient than fixed panels, where the output power of the fixed panel and automatically adjusted panel are 8.289 watts and 14.287 watts, respectively.


2021 ◽  
Vol 1 (2) ◽  
pp. 159-176
Author(s):  
Rahma Boucetta ◽  
Wiem Abdallah ◽  
Saloua Bel Hadj Ali

This paper presents an adaptive fuzzy-PID control strategy applied to an active lower limb prosthesis for trajectories tracking in normal walking, stairs climbing, and stairs descent. Trying to imitate a natural human limb, the prosthesis design challenges rehabilitating amputees to resume normal activities. A dynamic model of an ankle-knee active prosthesis is developed without ground reaction in a first case and introduces ground effect in a second one to ameliorate prothesis performances. The obtained models are used to synthesize a control strategy based on TS fuzzy concepts and PID control to reproduce human lower limb behavior in a normal gait and climb and descent of stairs. The RSME errors are calculated to evaluate and compare the various results performances and eventually show the capacity of the proposed control with ground reaction impact on trajectory tracking. The RMSE values obtained for the four outputs of the fuzzy controller are very small for the different modes of locomotion. Moreover, they become weaker when the ground reaction forces are added to the model to show the role of these forces for the body equilibrium maintaining during the gait cycle. The developed approach ensured good trajectories tracking compared to a healthy leg even in presence of disturbances.


2021 ◽  
Vol 1 (2) ◽  
pp. 145-158
Author(s):  
Marco Antonio Márquez-Vera ◽  
Andrea Rodríguez-Romero ◽  
Carlos Antonio Márquez-Vera ◽  
Karla Refugio Ramos-Téllez

There exist processes difficult to control because of the lack of inline sensors, as occurs in biotechnology engineering. Commonly the sensor is expensive, damaged, or even they do not exist.  It is important to build an observer to have an approximation of the process output to have a closed-loop control. The biotechnological processes are nonlinear, thus in this work is proposed a fuzzy observer to endure nonlinearities. To improve the results reported in the literature, type-2 fuzzy logic was used to justify the membership functions used. The observer's gains were computed via LMIs to guarantee the observer's stability.  To facilitate the fuzzy inference computation, interval type-2 fuzzy sets were implemented. The results obtained with the interval type-2 fuzzy observer were compared with a similar technique that uses a fuzzy sliding mode observer; this new approach gives better results obtaining an error 60% lower than the obtained with the other technique. They were designed three observers that work ensemble via a fuzzy relation. The best approximation was to estimate the intermediate concentration. It is important to know this variable because this sub-product was also toxic. It was concluding that by using the oxygen concentration and the liquid volume inside the reactor, the other concentrations were estimated. Finally, this result helps to design a fuzzy controller by using the estimated state. Using this approach, the estimation errors for the phenol and biomass concentrations were 49.26% and 21.27% lower than by using sliding modes.


2021 ◽  
Vol 1 (2) ◽  
pp. 131-144
Author(s):  
Guilherme P. Dos Santos ◽  
Adriano Kossoski ◽  
Jose M. Balthazar ◽  
Angelo Marcelo Tusset

This paper presents the design of the LQR (Linear Quadratic Regulator) and SDRE (State-Dependent Riccati Equation) controllers for the flight control of the F-8 Crusader aircraft considering the nonlinear model of longitudinal movement of the aircraft.  Numerical results and analysis demonstrate that the designed controllers can lead to significant improvements in the aircraft's performance, ensuring stability in a large range of attack angle situations. When applied in flight conditions with an angle of attack above the stall situation and influenced by the gust model, it was demonstrated that the LQR and SDRE controllers were able to smooth the flight response maintaining conditions in balance for an angle of attack up to 56% above stall angle.  However, for even more difficult situations, with angles of attack up to 76% above the stall angle, only the SDRE controller proved to be efficient and reliable in recovering the aircraft to its stable flight configuration.


2021 ◽  
Vol 1 (2) ◽  
pp. 116-130
Author(s):  
José Oscullo ◽  
Jaime Cepeda ◽  
Carlos Gallardo ◽  
Lenin Haro

This paper is looking to show to use of system data collected from wide-area monitoring systems (WAMS). They allow monitoring of the dynamics of power systems. Among the WAMS applications, there is the modal identification algorithm, which identifies critical oscillatory modes from PMU measurements. This application permits using data processors for estimating of frequency, damping, and amplitude of dominant mode oscillations observable in a specific electric signal (e.g., active power, frequency) recorded for the analyzed period. However, since modal identification of real-time measurements is based on an online optimization, the results usually have considerable fluctuations. Thus, it is essential to consider the complementary implementation of trend analysis for acquiring convenient early-warning indicators of oscillatory problems. This consideration allows avoiding erroneous information of the systems oscillatory behavior of the system real-time that modal identification of crude results could deliver. In this paper, the application of a l1 filter for determining the trend analysis of high-dimensional data set resulted from a commercial modal identification is explored. The algorithm is applied to an oscillatory event registered by the WAMS of the Ecuadorian National Interconnected System with promising results.


2021 ◽  
Vol 1 (2) ◽  
pp. 102-115
Author(s):  
Abdelhamid Bounemeur ◽  
Mohamed Chemachema

This work investigates a fuzzy direct adaptive fuzzy fault-tolerant Control (FFTC) for a class of perturbed single input single output (SISO) uncertain nonlinear systems. The designed controller consists of two sub-controllers. One is an adaptive unit, and the other is a robust unit, whereas the adaptive unit is devoted to getting rid of the dynamic uncertainties along with the actuator faults, while the second one is developed to deal with fuzzy approximation errors and exogenous disturbances. It is proved that the proposed approach ensures a good tracking performance against faults occurring, uncertainties, and exogenous disturbances, and the stability study of the closed-loop is proved regarding the Lyapunov direct method in order to prove that all signals remain bounded. Simulation results are presented to illustrate the accuracy of the proposed technique.


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