Pub Date : 2020-05-31DOI: 10.15866/ireaco.v13i3.18522
Hocine Loubar, R. Boushaki, Ayoub Aouati, M. Bouanzoul
During the last decades, Unmanned Aerial Vehicles (UAV) quadrotors have been widely used for many applications; furthermore, various techniques for their modelling and control have been proposed. Among the challenges encountered in the design of controllers for a quadrotor is the fact that it is a highly coupled and nonlinear multivariable system. It is also known as being an under-actuated system because it uses four actuators to control six degrees of freedom. In this work, the nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. Then SMC and PD controllers are designed in order to investigate linear and nonlinear trajectory tracking capabilities of the quadrotor. Step input response tests are also performed in order to study the performance of both controllers. Chattering effect of SMC controller is minimized using the boundary layer solution technique and genetic algorithm (GA) is used to tune the parameters of both PD and SMC controllers for better performance. The simulation is carried out using MATLAB Simulink and both techniques are compared in order to evaluate their dynamic performance and tracking capabilities.
{"title":"Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor","authors":"Hocine Loubar, R. Boushaki, Ayoub Aouati, M. Bouanzoul","doi":"10.15866/ireaco.v13i3.18522","DOIUrl":"https://doi.org/10.15866/ireaco.v13i3.18522","url":null,"abstract":"During the last decades, Unmanned Aerial Vehicles (UAV) quadrotors have been widely used for many applications; furthermore, various techniques for their modelling and control have been proposed. Among the challenges encountered in the design of controllers for a quadrotor is the fact that it is a highly coupled and nonlinear multivariable system. It is also known as being an under-actuated system because it uses four actuators to control six degrees of freedom. In this work, the nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. Then SMC and PD controllers are designed in order to investigate linear and nonlinear trajectory tracking capabilities of the quadrotor. Step input response tests are also performed in order to study the performance of both controllers. Chattering effect of SMC controller is minimized using the boundary layer solution technique and genetic algorithm (GA) is used to tune the parameters of both PD and SMC controllers for better performance. The simulation is carried out using MATLAB Simulink and both techniques are compared in order to evaluate their dynamic performance and tracking capabilities.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"128-138"},"PeriodicalIF":0.0,"publicationDate":"2020-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41641142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-31DOI: 10.15866/ireaco.v13i3.19149
T. Habib
The problem of spacecraft attitude control has been addressed in the literature via several linear and nonlinear algorithms. In the current study, cascade-forward neural networks have been used to mimic the behaviour of the High Performance Nonlinear Discrete Controller (HPNDC). Controller stability is proven via Lyapunov second method. The developed control algorithm has the ability to work during all of the spacecraft operational modes and alleviates many problems associated with other nonlinear algorithms existing in the literature. Performance of the algorithm has been tested against various nonlinear attitude control algorithms including HPNDC, Sliding Mode (SM) Controller, Nonlinear Dynamic Inversion (NDI)controller, and Adaptive Neuro-Fuzzy Inference Systems (ANFIS) controller. The proposed neural networks control algorithm achieved a good performance compared to the aforementioned control algorithms. The behaviour of the HPNDC control algorithm has been used for training of the Neural Networks due to its numerous advantages when operating in linear and nonlinear operational modes. To prevent data overfitting, 10% of the training data set are used for testing. The training ratio is selected to be 90%. Gravity gradient torques acting on EGYPTSAT-1 spacecraft are considered the main acting disturbance. The developed control algorithm can nullify the initial high angular velocities and attitude angles of the spacecraft within two orbits.
{"title":"Nonlinear Spacecraft Attitude Control via Cascade-Forward Neural Networks","authors":"T. Habib","doi":"10.15866/ireaco.v13i3.19149","DOIUrl":"https://doi.org/10.15866/ireaco.v13i3.19149","url":null,"abstract":"The problem of spacecraft attitude control has been addressed in the literature via several linear and nonlinear algorithms. In the current study, cascade-forward neural networks have been used to mimic the behaviour of the High Performance Nonlinear Discrete Controller (HPNDC). Controller stability is proven via Lyapunov second method. The developed control algorithm has the ability to work during all of the spacecraft operational modes and alleviates many problems associated with other nonlinear algorithms existing in the literature. Performance of the algorithm has been tested against various nonlinear attitude control algorithms including HPNDC, Sliding Mode (SM) Controller, Nonlinear Dynamic Inversion (NDI)controller, and Adaptive Neuro-Fuzzy Inference Systems (ANFIS) controller. The proposed neural networks control algorithm achieved a good performance compared to the aforementioned control algorithms. The behaviour of the HPNDC control algorithm has been used for training of the Neural Networks due to its numerous advantages when operating in linear and nonlinear operational modes. To prevent data overfitting, 10% of the training data set are used for testing. The training ratio is selected to be 90%. Gravity gradient torques acting on EGYPTSAT-1 spacecraft are considered the main acting disturbance. The developed control algorithm can nullify the initial high angular velocities and attitude angles of the spacecraft within two orbits.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"146-152"},"PeriodicalIF":0.0,"publicationDate":"2020-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46093722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.18597
Samia Jenkal, M. Kourchi, A. Rachdy, Otman Oussalem, M. Oubella, M. Ajaamoum
This paper presents a high-accuracy photovoltaic emulator system using DC-DC Buck-Boost converter. The realization of the emulator is carried out using an ATmega1280 microcontroller, allowing the emulation of photovoltaic modules in a low cost system with weather conditions defined by the user. A mathematical model based on straight lines model is built using MATLAB / Simulink in order to reproduce the solar current-voltage characteristics and an appropriate control scheme to improve the performance of the emulator’ output. As a result, the output characteristics of the emulator are in good agreement with the ones of the actual solar panel in different weather and load conditions.
{"title":"Design and Realization of a Low-Cost and High Accurate Photovoltaic Emulator System Using Buck-Boost Converter","authors":"Samia Jenkal, M. Kourchi, A. Rachdy, Otman Oussalem, M. Oubella, M. Ajaamoum","doi":"10.15866/ireaco.v13i2.18597","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.18597","url":null,"abstract":"This paper presents a high-accuracy photovoltaic emulator system using DC-DC Buck-Boost converter. The realization of the emulator is carried out using an ATmega1280 microcontroller, allowing the emulation of photovoltaic modules in a low cost system with weather conditions defined by the user. A mathematical model based on straight lines model is built using MATLAB / Simulink in order to reproduce the solar current-voltage characteristics and an appropriate control scheme to improve the performance of the emulator’ output. As a result, the output characteristics of the emulator are in good agreement with the ones of the actual solar panel in different weather and load conditions.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"77-83"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44859470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.18659
Y. H. Alnema, Mohammed Almaged, Mohanad N. Noaman
The term “autonomous car” or “driverless car” has recently drawn great attention among designers, manufacturers, and drivers because of its environmental and long-term economic benefits. This may comprise minimizing fuel consumption and reducing vehicle emission and pollution. Furthermore, it has great social benefits on commuting through reducing accidents rate and lowering road rage level to its minimum. However, these advantages come with a certain amount of difficulties such as the high costs of technology and manufacturing as well as the need for updating road system structures. This paper will mainly focus on discussing and evaluating the most recent contributions that have been implemented in order to make the design of driverless cars more efficient, cost-effective, robust, and safer. This includes a comprehensive review of the most recent results for groundbreaking technologies that make ordinary vehicles fully autonomous.
{"title":"Driverless Model Cars: a Review and Analysis of Autonomous Vehicle Literature on Technology and Application","authors":"Y. H. Alnema, Mohammed Almaged, Mohanad N. Noaman","doi":"10.15866/ireaco.v13i2.18659","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.18659","url":null,"abstract":"The term “autonomous car” or “driverless car” has recently drawn great attention among designers, manufacturers, and drivers because of its environmental and long-term economic benefits. This may comprise minimizing fuel consumption and reducing vehicle emission and pollution. Furthermore, it has great social benefits on commuting through reducing accidents rate and lowering road rage level to its minimum. However, these advantages come with a certain amount of difficulties such as the high costs of technology and manufacturing as well as the need for updating road system structures. This paper will mainly focus on discussing and evaluating the most recent contributions that have been implemented in order to make the design of driverless cars more efficient, cost-effective, robust, and safer. This includes a comprehensive review of the most recent results for groundbreaking technologies that make ordinary vehicles fully autonomous.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"84-92"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41623371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.17637
F. H. Velasco, J. Candelo-Becerra, Eder Alexander Molina Viloria
This paper presents the theoretical and the experimental results of a direct current and alternating current buck converter configured as an inverter controlled by zero average dynamics and fixed point induced control techniques. The system is modeled and implemented in an electrical circuit in order to apply the control techniques and the tracking voltage at the output of the alternating current signals. The tests are based on comparing simulation and experimental results in order to identify the robustness of the circuit when subjected to disturbances. The results show that zero average dynamics and fixed point induced control techniques implemented digitally in a digital signal processor meet the requirements of fixed switching frequency, robustness, and good performance in alternating current signal tracking tasks, which are the benefits of this controller. The fixed switching frequency is evidenced in the results related to the non-saturated duty cycle achieving a very good commutation and reducing electromagnetic interferences. For high frequencies, the value of the inductive-capacitive filter should be decreased when tracking alternating current signals; however, this increases ripple in the signal and tracking errors.
{"title":"Tracking AC Signals with Zero Average Dynamics and Fixed Point Induced Control","authors":"F. H. Velasco, J. Candelo-Becerra, Eder Alexander Molina Viloria","doi":"10.15866/ireaco.v13i2.17637","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.17637","url":null,"abstract":"This paper presents the theoretical and the experimental results of a direct current and alternating current buck converter configured as an inverter controlled by zero average dynamics and fixed point induced control techniques. The system is modeled and implemented in an electrical circuit in order to apply the control techniques and the tracking voltage at the output of the alternating current signals. The tests are based on comparing simulation and experimental results in order to identify the robustness of the circuit when subjected to disturbances. The results show that zero average dynamics and fixed point induced control techniques implemented digitally in a digital signal processor meet the requirements of fixed switching frequency, robustness, and good performance in alternating current signal tracking tasks, which are the benefits of this controller. The fixed switching frequency is evidenced in the results related to the non-saturated duty cycle achieving a very good commutation and reducing electromagnetic interferences. For high frequencies, the value of the inductive-capacitive filter should be decreased when tracking alternating current signals; however, this increases ripple in the signal and tracking errors.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"93-99"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44191498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.17053
J. Pinzón-Arenas, R. Jiménez-Moreno, César G. Pachón-Suescún
This paper presents the development of a convolutional neural network with a directed acyclic graph architecture (DAG-CNN) focused on the recognition of places. The network is focused on identifying six types of rooms in various houses. For this purpose, five houses have been built in a virtual environment from which the training and validation database has been obtained through an on-site panning camera. In order to select the number of filters required for the proposed architecture, the internal behavior of each training has been verified through neuron activation heat maps in order to reduce the learning repetitions of little relevant objects or the characteristics of the scene as much as possible, obtaining a network capable of recognizing 96.5% of the individual images from room sequence photographs and 100% individual recognition of each room (complete sequence). Thus, the capacity and the robustness of the selected architecture for recognizing indoor places are demonstrated.
{"title":"Place Recognition with DAG-CNN","authors":"J. Pinzón-Arenas, R. Jiménez-Moreno, César G. Pachón-Suescún","doi":"10.15866/ireaco.v13i2.17053","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.17053","url":null,"abstract":"This paper presents the development of a convolutional neural network with a directed acyclic graph architecture (DAG-CNN) focused on the recognition of places. The network is focused on identifying six types of rooms in various houses. For this purpose, five houses have been built in a virtual environment from which the training and validation database has been obtained through an on-site panning camera. In order to select the number of filters required for the proposed architecture, the internal behavior of each training has been verified through neuron activation heat maps in order to reduce the learning repetitions of little relevant objects or the characteristics of the scene as much as possible, obtaining a network capable of recognizing 96.5% of the individual images from room sequence photographs and 100% individual recognition of each room (complete sequence). Thus, the capacity and the robustness of the selected architecture for recognizing indoor places are demonstrated.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"58-66"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46795335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.18256
A. R. Khafizov, B. Bulatov, A. .. Pudovkin, I. Nedoseko, Valeri M. Galimov, M. T. Sultanov
{"title":"Analysis and Modeling of Coating Plant Topology and Automatic Control System","authors":"A. R. Khafizov, B. Bulatov, A. .. Pudovkin, I. Nedoseko, Valeri M. Galimov, M. T. Sultanov","doi":"10.15866/ireaco.v13i2.18256","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.18256","url":null,"abstract":"","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"49"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46611936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-31DOI: 10.15866/ireaco.v13i2.17572
F. H. Velasco, John Edwin Candelo Becerra, Frank Alberto Ibarra Hernández
This article presents the behavior of an inverter in both DC-DC and DC-AC configurations controlled with a quasi-sliding control technique known as ZAD-FPIC. An analysis of transient behavior, disturbances in the load, changes in the reference signal, and disturbances in the power supply are presented, and control techniques have been designed to manage an inverter in real-time. The software has been designed to execute the controllers by using Simulink-MATLAB libraries and the ones provided when installing the DS1104 board. The digitally implemented ZAD-FPIC controllers use a DS1104 in order to control the converter and thus meet the requirements of fixed switching frequency, robustness, and good performance in DC signal regulation tasks. The controllers work well during the transient state because they dampen overshoots and reduce settling times. The results show that the system regulates well before changes of the reference and rejects disturbances in the load and the source voltage. Additionally, it has been observed that the regulation error varies depending on the reference voltage level.
{"title":"Dynamic Response of DC-DC and DC-AC Inverters Controlled with ZAD-FPIC","authors":"F. H. Velasco, John Edwin Candelo Becerra, Frank Alberto Ibarra Hernández","doi":"10.15866/ireaco.v13i2.17572","DOIUrl":"https://doi.org/10.15866/ireaco.v13i2.17572","url":null,"abstract":"This article presents the behavior of an inverter in both DC-DC and DC-AC configurations controlled with a quasi-sliding control technique known as ZAD-FPIC. An analysis of transient behavior, disturbances in the load, changes in the reference signal, and disturbances in the power supply are presented, and control techniques have been designed to manage an inverter in real-time. The software has been designed to execute the controllers by using Simulink-MATLAB libraries and the ones provided when installing the DS1104 board. The digitally implemented ZAD-FPIC controllers use a DS1104 in order to control the converter and thus meet the requirements of fixed switching frequency, robustness, and good performance in DC signal regulation tasks. The controllers work well during the transient state because they dampen overshoots and reduce settling times. The results show that the system regulates well before changes of the reference and rejects disturbances in the load and the source voltage. Additionally, it has been observed that the regulation error varies depending on the reference voltage level.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"67-76"},"PeriodicalIF":0.0,"publicationDate":"2020-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47358744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-31DOI: 10.15866/ireaco.v13i1.18346
S. A. Salman, Qais Khasawneh, M. Jaradat, Mansour Alramlawi
{"title":"Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance","authors":"S. A. Salman, Qais Khasawneh, M. Jaradat, Mansour Alramlawi","doi":"10.15866/ireaco.v13i1.18346","DOIUrl":"https://doi.org/10.15866/ireaco.v13i1.18346","url":null,"abstract":"","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"13 1","pages":"27"},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42488985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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