Pub Date : 2024-03-29DOI: 10.24425/acs.2024.149651
Solomon C. Nwafor, J. Eneh, Mmasom I. Ndefo, Oluchi C. Ugbe, Henry I. Ugwu, O. Ani
Quadcopter unmanned aerial vehicle is a multivariable, coupled, unstable, and underactuated system with inherent nonlinearity. It is gaining popularity in various applications and has been the subject of numerous research studies. However, modelling and controlling a quadcopter to follow a trajectory is a challenging issue for which there is no unique solution. This study proposes an optimal hybrid quadcopter control with MPC-based backstepping control for following a reference trajectory. The outer-loop controller (backstepping controller) regulates the quadcopter’s position, whereas the inner-loop controller (Model Predictive Control) regulates its attitude. The translational and rotational dynamics of the quadcopter are analyzed utilizing the Newton-Euler method. After that, the backstepping controller (BC) is created, which is a recurrent control method according to Lyapunov’s theory that utilizes a genetic algorithm (GA) to choose the controller parameters automatically. In order to apply a linear control technique in the presence of nonlinearities in the quadcopter dynamics, Linear Parameter Varying (LPV) Model Predictive Control (MPC) structure is developed. Simulation validated the dynamic performance of the proposed optimal hybrid MPC-based backstepping controller of the quadcopter in following a given reference trajectory. The simulations demonstrate the fact that using a command control input in trajectory tracking, the proposed control algorithm offers suitable tracking over the assigned position references with maximum appropriate tracking errors of 0.1 m for the �� and �� positions and 0.15 m for the �� position.
{"title":"An optimal hybrid quadcopter control technique with MPC-based backstepping","authors":"Solomon C. Nwafor, J. Eneh, Mmasom I. Ndefo, Oluchi C. Ugbe, Henry I. Ugwu, O. Ani","doi":"10.24425/acs.2024.149651","DOIUrl":"https://doi.org/10.24425/acs.2024.149651","url":null,"abstract":"Quadcopter unmanned aerial vehicle is a multivariable, coupled, unstable, and underactuated system with inherent nonlinearity. It is gaining popularity in various applications and has been the subject of numerous research studies. However, modelling and controlling a quadcopter to follow a trajectory is a challenging issue for which there is no unique solution. This study proposes an optimal hybrid quadcopter control with MPC-based backstepping control for following a reference trajectory. The outer-loop controller (backstepping controller) regulates the quadcopter’s position, whereas the inner-loop controller (Model Predictive Control) regulates its attitude. The translational and rotational dynamics of the quadcopter are analyzed utilizing the Newton-Euler method. After that, the backstepping controller (BC) is created, which is a recurrent control method according to Lyapunov’s theory that utilizes a genetic algorithm (GA) to choose the controller parameters automatically. In order to apply a linear control technique in the presence of nonlinearities in the quadcopter dynamics, Linear Parameter Varying (LPV) Model Predictive Control (MPC) structure is developed. Simulation validated the dynamic performance of the proposed optimal hybrid MPC-based backstepping controller of the quadcopter in following a given reference trajectory. The simulations demonstrate the fact that using a command control input in trajectory tracking, the proposed control algorithm offers suitable tracking over the assigned position references with maximum appropriate tracking errors of 0.1 m for the �� and �� positions and 0.15 m for the �� position.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140366653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-28DOI: 10.24425/acs.2024.149649
{"title":"149649","authors":"","doi":"10.24425/acs.2024.149649","DOIUrl":"https://doi.org/10.24425/acs.2024.149649","url":null,"abstract":"","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140419371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148885
The current task explores automatic generation control knowledge under old-style circum-stances for a triple-arena scheme. Sources in area-1 are thermal-solar thermal (ST); thermal-geothermal power plant (GPP) in area-2 and thermal-hydro in area-3. An original endeavour has been set out to execute a new performance index named hybrid peak area integral squared error (HPA-ISE) and two-stage controller with amalgamation of proportional-integral and fractional order proportional-derivative, hence named as PI(FOPD). The performance of PI(FOPD) has been compared with varied controllers like proportional-integral (PI), proportional-integral-derivative (PID). Various investigation express excellency of PI(FOPD) controller over other controller from outlook regarding lessened level of peak anomalies and time duration for settling. Thus, PI(FOPD) controller’s excellent performance is stated when comparison is undergone for a three-area basic thermal system. The above said controller’s gains and related parameters are developed by the aid of Artificial Rabbit Optimization (ARO). Also, studies with HPA-ISE enhances system dynamics over ISE. Moreover, a study on various area capacity ratios (ACR) suggests that high ACR shows better dynamics. The basic thermal system is united with re-Copyright
{"title":"Analysis of multiple-area renewable integrated hydro-thermal system considering artificial rabbit optimized PI (FOPD) cascade controller and redox flow battery","authors":"","doi":"10.24425/acs.2023.148885","DOIUrl":"https://doi.org/10.24425/acs.2023.148885","url":null,"abstract":"The current task explores automatic generation control knowledge under old-style circum-stances for a triple-arena scheme. Sources in area-1 are thermal-solar thermal (ST); thermal-geothermal power plant (GPP) in area-2 and thermal-hydro in area-3. An original endeavour has been set out to execute a new performance index named hybrid peak area integral squared error (HPA-ISE) and two-stage controller with amalgamation of proportional-integral and fractional order proportional-derivative, hence named as PI(FOPD). The performance of PI(FOPD) has been compared with varied controllers like proportional-integral (PI), proportional-integral-derivative (PID). Various investigation express excellency of PI(FOPD) controller over other controller from outlook regarding lessened level of peak anomalies and time duration for settling. Thus, PI(FOPD) controller’s excellent performance is stated when comparison is undergone for a three-area basic thermal system. The above said controller’s gains and related parameters are developed by the aid of Artificial Rabbit Optimization (ARO). Also, studies with HPA-ISE enhances system dynamics over ISE. Moreover, a study on various area capacity ratios (ACR) suggests that high ACR shows better dynamics. The basic thermal system is united with re-Copyright","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139624746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148883
A boundary value problem for a non-linear difference equation of order three is considered. We show that this equation can be interpreted as the equation satisfied by the value function in a stochastic optimal control problem. We thus obtain an expression for the solution of the non-linear difference equation that can be used to find an explicit solution to this equation. An example is presented.
{"title":"A boundary value problem for a non-linear difference equation","authors":"","doi":"10.24425/acs.2023.148883","DOIUrl":"https://doi.org/10.24425/acs.2023.148883","url":null,"abstract":"A boundary value problem for a non-linear difference equation of order three is considered. We show that this equation can be interpreted as the equation satisfied by the value function in a stochastic optimal control problem. We thus obtain an expression for the solution of the non-linear difference equation that can be used to find an explicit solution to this equation. An example is presented.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139532393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148882
{"title":"Equivalent diagrams of fractional order elements","authors":"","doi":"10.24425/acs.2023.148882","DOIUrl":"https://doi.org/10.24425/acs.2023.148882","url":null,"abstract":"","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139532452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148881
The asymptotic stability of the convex linear combination of continuous-time and discrete-time linear systems is considered. Using the Gershgorin theorem it is shown that the convex linear combination of the linear asymptotically stable continuous-time and discretetime linear systems is also asymptotically stable. It is shown that the above thesis is also valid (even simpler) for positive linear systems.
{"title":"Stability of convex linear combinations of continuous-time and discrete-time linear systems","authors":"","doi":"10.24425/acs.2023.148881","DOIUrl":"https://doi.org/10.24425/acs.2023.148881","url":null,"abstract":"The asymptotic stability of the convex linear combination of continuous-time and discrete-time linear systems is considered. Using the Gershgorin theorem it is shown that the convex linear combination of the linear asymptotically stable continuous-time and discretetime linear systems is also asymptotically stable. It is shown that the above thesis is also valid (even simpler) for positive linear systems.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139532629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148879
This article concerns the use of an integrated RFID system with a mobile robot for the navigation and mapping of closed spaces. The architecture of a prototype mobile robot equipped with a set of RFID readers that performs the mapping functions is described. Laboratory tests of the robot have been carried out using a test stand equipped with a grid of appropriately programmed RFID transponders. A simulation model of the effectiveness of transponder reading by the robot has been prepared. The conclusions from measurements and tests are discussed, and methods for improving the solution are proposed
这篇文章介绍了如何将 RFID 集成系统与移动机器人相结合，用于封闭空间的导航和绘图。文章介绍了一个移动机器人原型的结构，该机器人配备了一套 RFID 阅读器，可执行测绘功能。该机器人的实验室测试是在一个配备了适当编程的 RFID 应答器网格的测试台上进行的。还制作了机器人读取应答器有效性的模拟模型。对测量和测试得出的结论进行了讨论，并提出了改进解决方案的方法。
{"title":"Navigation and mapping of closed spaces with a mobile robot and RFID grid","authors":"","doi":"10.24425/acs.2023.148879","DOIUrl":"https://doi.org/10.24425/acs.2023.148879","url":null,"abstract":"This article concerns the use of an integrated RFID system with a mobile robot for the navigation and mapping of closed spaces. The architecture of a prototype mobile robot equipped with a set of RFID readers that performs the mapping functions is described. Laboratory tests of the robot have been carried out using a test stand equipped with a grid of appropriately programmed RFID transponders. A simulation model of the effectiveness of transponder reading by the robot has been prepared. The conclusions from measurements and tests are discussed, and methods for improving the solution are proposed","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139625094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148880
{"title":"ℎ-Stability of set differential equations","authors":"","doi":"10.24425/acs.2023.148880","DOIUrl":"https://doi.org/10.24425/acs.2023.148880","url":null,"abstract":"","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139624688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-12DOI: 10.24425/acs.2023.148884
Disturbance rejection performance optimization with constraints on robustness for a multi-variable process is commonly encountered in industrial control applications. This paper presents the tuning of a multi-loop Proportional Integral (PI) controller method to enhance the performance of load disturbance rejection using evolutionary optimization. The proposed design methodology is formulated to minimize the load disturbance rejection response and the input control energy under the constraints of robust stability. The minimum singular value of multiplicative uncertainty is considered a multi-loop system robust stability indicator. Optimization is performed to achieve the same, or higher level than the most-explored Direct Synthesis (DS) based multi-loop PI controller, which is derived from a conventional criterion. Simulation analysis clearly proved that the proposed multi-loop PI controller tuning method gives better disturbance rejection, and either, the same or a higher level of robust stability when compared to the DS-based multi-loop PI controller.
在工业控制应用中，经常会遇到对多变量过程的鲁棒性有约束的干扰抑制性能优化问题。本文介绍了一种多回路比例积分（PI）控制器的调整方法，以利用进化优化提高负载干扰抑制性能。所提出的设计方法旨在使负载干扰抑制响应和输入控制能量在鲁棒稳定性的约束下最小化。乘法不确定性的最小奇异值被视为多回路系统鲁棒稳定性指标。通过优化，该系统达到了与基于直接合成（DS）的多回路 PI 控制器相同或更高的水平，而后者是由传统准则推导出来的。仿真分析清楚地证明，与基于 DS 的多回路 PI 控制器相比，所提出的多回路 PI 控制器调整方法具有更好的干扰抑制能力，以及相同或更高水平的鲁棒稳定性。
{"title":"Design of robust multi-loop PI controller for improved disturbance rejection with constraint on minimum singular value","authors":"","doi":"10.24425/acs.2023.148884","DOIUrl":"https://doi.org/10.24425/acs.2023.148884","url":null,"abstract":"Disturbance rejection performance optimization with constraints on robustness for a multi-variable process is commonly encountered in industrial control applications. This paper presents the tuning of a multi-loop Proportional Integral (PI) controller method to enhance the performance of load disturbance rejection using evolutionary optimization. The proposed design methodology is formulated to minimize the load disturbance rejection response and the input control energy under the constraints of robust stability. The minimum singular value of multiplicative uncertainty is considered a multi-loop system robust stability indicator. Optimization is performed to achieve the same, or higher level than the most-explored Direct Synthesis (DS) based multi-loop PI controller, which is derived from a conventional criterion. Simulation analysis clearly proved that the proposed multi-loop PI controller tuning method gives better disturbance rejection, and either, the same or a higher level of robust stability when compared to the DS-based multi-loop PI controller.","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139532750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-19DOI: 10.24425/acs.2023.148878
{"title":"148878","authors":"","doi":"10.24425/acs.2023.148878","DOIUrl":"https://doi.org/10.24425/acs.2023.148878","url":null,"abstract":"","PeriodicalId":48654,"journal":{"name":"Archives of Control Sciences","volume":null,"pages":null},"PeriodicalIF":1.2,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138959261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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