Applied sciences

Archives of Control Sciences

Content

Archives of Control Sciences | 2025 | Vol. 35 | No 1

Download PDF Download RIS Download Bibtex

Abstract

Autonomous navigation of vehicles, especially drones, plays an essential role in Industrial Revolution 4.0. Maneuvering drone in complex path especially indoor environment requires stable and accurate navigation system. This paper investigates a navigation algorithm for maneuvering a drone by Sliding Mode Controller (SMC) combined by fuzzy logic system, model reference approach, and tag-based fiducial marker detection in an indoor environment. The SMC parameters are tuned by the fuzzy logic system and model reference approach. A drone model is simulated in a virtual indoor environment to validate the performance of the navigation system with different home points and trajectories. The desired set-points of the control system are obtained by AprilTag, which is a tag-based fiducial marker detection system. The stability of the SMC was verified using the Lyapunov stability theory. The performance of proposed SMC navigation algorithm validated by comparing to conventional controllers which represents the effectiveness of SMC. It can be ascertained that the proposed SMC navigation algorithm is applicable to maneuver the drone for various industrial tasks in indoor environment.
Go to article

Authors and Affiliations

Mohammad Soleimani Amiri
1
ORCID: ORCID
Rizauddin Ramli
2
ORCID: ORCID
Ahmad Barari
3
ORCID: ORCID

  1. Department of Manufacturing Engineering Technology, Faculty of Industrial and Manufacturing Technology and Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  2. Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia
  3. Department of Mechanical and Manufacturing Engineering, University of OntarioInstitute of Technology, Oshawa, Ontario, L1H7K4, Canada
Download PDF Download RIS Download Bibtex

Abstract

In the paper, two algorithms that allow identification of a parametric models of random time-series from binary-valued observations of their realizations, as well as from quantized measurements of their values, are proposed. The proposed algorithms are based on the idea of time-series decomposition either on a direct power spectral density or autocorrelation function approximation. They use the concepts of randomized search algorithms to recover the corresponding parametric models from calculated estimates of power spectral density or autocorrelation function. The considerations presented in the paper are illustrated with simulated identification examples in which linear and nonlinear block-oriented dynamic models of timeseries are identified from the binary-valued observations and quantized measurements.
Go to article

Authors and Affiliations

Jarosław Figwer
1
ORCID: ORCID

  1. Department of Measurements and Control, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland
Download PDF Download RIS Download Bibtex

Abstract

Because of the Autonomous Underwater Vehicles (AUVs) potential for use in marine and oceanographic research, as well as in sectors like environmental monitoring and oil and gas development, underwater exploration and offshore wind energy, research in the underwater environment has gained a lot of attention in recent years. AUV navigation in the complicated and unpredictable underwater environment is one of the biggest challenges. Research in underwater technology has advanced dramatically, and current AUVs with proper path planning can operate for prolonged periods of time at vast depths to complete the underwater operations. This study investigates several paths planning techniques, classifying them as local or global strategies, and incorporates classical, graph-based, and intelligent optimization algorithms to improve navigation and obstacle avoidance. The examination focuses on the history of these approaches, demonstrating their increased efficiency in dynamic and complicated situations. This overview addresses the challenges that AUVs encounter in the maritime environment, notably in terms of course navigation planning and communication constraints. When applying these algorithms to AUV path planning issues, researchers frequently include extra limitations and goals unique to underwater environments, such as currents, obstructions, energy consumption, and communication constraints. It places a strong emphasis on navigating an ideal path between the starting to the end point. The global and local components of the path planning method are used to address underwater navigation under communication constraint. The several path-planning techniques for AUVs using efficient navigation algorithms are briefly discussed in this review study based on their advantages and disadvantages. A suggestion for additional research on AUV path planning is made on effectiveness of the reported path planning the strategies will serve as a catalyst to inspire researchers within the field to concentrate on specific issues identified for the future advancement of AUVs. The global and local path planning methods are used to address navigation based on tradition, group intelligent optimization and graph search algorithms.
Go to article

Authors and Affiliations

Bhaskar Jyoti Talukdar
1
Bibhuti Bhusan Pati
2
Bikramaditya Das
3

  1. Department of Electronics and Telecommunication Engineering, Veer Surendra Sai University of Technology, Burla – 768018, Odisha, India
  2. Department of Electrical Engineering, Veer Surendra Sai University of Technology, Burla – 768018, Odisha, India
  3. Department of Electronics and Telecommunication Engineering, VSSUT Burla, Odisha, India but now joined as Associate Professor inDepartment of Electronics and Communication Engineering, BPUT, Rourkela, Odisha, India
Download PDF Download RIS Download Bibtex

Abstract

The article describes the grasping point algorithm (GPA), aimed to determine points for picking up objects by a manipulator equipped with a proprietary gripper enabling three picking modes (suction cup, two fingers, three fingers). The paper outlines the topic of unknown object picking using various types of grippers, both from a stack of objects and stand-alone items. It describes details of four methods available in the literature. Presented GPA algorithm consists of four separate functions dedicated to appropriate grasping methods chosen based on a decisionmaking process. The dedicated functions has been described in detail and tested. Used methods have been tested manually on 15 different objects. GPA algorithm has been evaluated in realworld tests as well. The presented tests showed efficiency of approximately 92% in the case of moving previously unknown objects from the stack to the target cuvette.
Go to article

Authors and Affiliations

Michał Czubenko
1
ORCID: ORCID
Piotr Łyczko
1
Rafał Okuński
2

  1. Intema Sp. z o.o., Gdańsk, Poland and Department of Robotics and Decision Systems, Faculty of ElectronicsTelecommunications and Informatics, Gdańsk University of Technology, Gdańsk, Poland
  2. Intema Sp. z o.o., Gdańsk, Poland
Download PDF Download RIS Download Bibtex

Abstract

In this work, we present a new four-dimensional chaotic hyperjerk system with a half-line of equilibrium points. In the chaos literature, it is well-known that chaotic systems with an infinite number of equilibrium points exhibit hidden attractors. Thus, we deduce in this research work that the new chaotic hyperjerk system has hidden attractors. We next study the new chaotic hyperjerk system for a dynamic analysis using bifurcation plots and Lyapunov Exponents (LE) diagrams.We exhibit that the new hyperjerk system has a special property of multistability with coexisting attractors. Using Multisim version 14.2, we carry out an electronic circuit simulation for the proposed 4-D chaotic hyperjerk system with a half-line of equilibrium points. Finally, as an application in control engineering, we apply backstepping control for achieving antisynchronization of a pair of new chaotic hyperjerk systems taken as master-slave systems, which has important applications in communication systems.
Go to article

Authors and Affiliations

Sundarapandian Vaidyanathan
1
Fareh Hannachi
2
ORCID: ORCID
Mohamad Afendee Mohamed
3
ORCID: ORCID
Aceng Sambas
4
Chittineni Aruna
5
ORCID: ORCID
Repudi Ramesh
6

  1. Centre for ControlSystems, Vel Tech University, 400 Feet Outer Ring Road, Avadi, Chennai-600062 Tamil Nadu, India and Faculty of Information and Computing, Universiti Sultan Zainal Abidin Terengganu, Malaysia
  2. Department of Management Sciences, Echahid Cheikh Larbi Tebessi University, Route de Constantine, 12022, Tebessa, Algeria
  3. Faculty of Information and Computing, Universiti Sultan Zainal Abidin, Terengganu, Malaysia
  4. Faculty of Informaticsand Computing, Universiti Sultan ZainalAbidin, Gong Badak, 21300, Terengganu, Malaysia and Departmentof Mechanical Engineering, Universitas Muhammadiyah Tasikmalaya, Jawa Barat 46196, Indonesia
  5. Department of Computer Science and Engineering, KKR & KSR Institute of Technology and Sciences, Vinjanampadu, Vatticherukuru Mandal, Guntur-522017, Andhra Pradesh, India
  6. Department of Computer Science and Engineering, KKR & KSR Institute of Technology andSciences, Vinjanampadu, Vatticherukuru Mandal, Guntur-522017, Andhra Pradesh, India.
Download PDF Download RIS Download Bibtex

Abstract


Observers for unobservable linear systems ẋ = Ax + Bu, y = Cx, x = x (t) ∈ ℜn, u = u (t) ∈ ℜm, y = y(t) ∈ Rp are proposed. It is shown that there exist full-order and reduced-order
observers for systems satisfying the condition rank [A C] = n. Procedures for computation of the
matrices of the observers are given and illustrated by numerical examples.

Go to article

Authors and Affiliations

Tadeusz Kaczorek
1

  1. Faculty of Electrical Engineering, Bialystok University of Technology, Wiejska 45D, 15-351 Białystok, Poland
Download PDF Download RIS Download Bibtex

Abstract

Transportation problems are a crucial area in logistics and operations research that focuses on effectively transporting products and resources from origin to destination. The complex nature of real-world situations requires the utilization of advanced mathematical models and optimization approaches to formulate effective solutions. Quantifying the accurate supply, demand, and transportation costs of transportation problems is highly challenging due to the market’s unpredictable economic and environmental conditions. Several methodologies have been proposed to address the issue of transportation problems with uncertain parameters, utilizing fuzzy theory and its derivatives. Complex Pythagorean fuzzy numbers (CPyFNs) are highly suitable and effective for representing uncertain and ambiguous information in real-world scenarios. This article introduces an innovative analysis of transportation problems in the complex Pythagorean fuzzy information framework. Initially,we establish an improved score function value to evaluate the ordering of CPyFNs more precisely and propose several ranking rules. The following section of the study presents mathematical formulations and optimization models for transportation problems, where the parameters are expressed as CPyFNs. The solution approach is formulated using Vogel’s approximation method (VAM) and modified distribution method (MODI) to solve transportation problems in a complex Pythagorean fuzzy setting. An illustrative numerical example is provided to showcase the practicality and effectiveness of the proposed method in real-life scenarios. The significance of the research and the extent of future investigation are also emphasized.
Go to article

Authors and Affiliations

Rajkumar Verma
1
Anushri Verma
2
Pranav Dass
3
Chaubey Vishal
4

  1. Instituto de Investigación Interdisciplinaria, Universidad de Talca, Talca, Chile; School of Economics and Business, Universidad de Talca, Talca, Chile and Department of Applied Sciences and Humanities, Indira Gandhi Delhi Technical Universityfor Women, Kashmere Gate, Delhi-110006, India
  2. Department of Mathematics, JSS Academy of Technical Education, Noida-201301, Uttar Pradesh, India
  3. Department of Computer Science, Shyam Lal College, University of Delhi, India
  4. Department of Mathematics, The Basis Science and Humanities, Pranveer Singh Institute of Technology, Kanpur, Uttar Pradesh, India

Instructions for authors

Each paper submitted is subject to a review procedure, and the publication decision is based on reviers' comments on the paper. To avoid delay, please prepare the manuscript carefully following the suggestions listed below.

Computer file of the manuscript may be sent by e-mail to the address of Assistant Editor or acs@polsl.pl. Preferred text processors is TeX or LaTeX, however Word and other processors are also acceptable. In case of difficulties in processing the text, the author may be asked to supply the ASCII export of the original file.

Manuscripts sent via ordinary post should be typewritten double-spaced on one side of a standard size (A4) paper. Left side margin should be approximately 3cm (1.2'') wide. Each page should contain approximately 30 lines of 60 characters each. The manuscript including figures and tables together with their captions should be submitted. A separate signed letter giving the Author's preferred address for correspondence and return of proofs should be enclosed. Manuscript is the basis for editorial work.

First page should include the title of the paper, first name(s) and surname(s) of the Author(s), and a short summary (abstract), not longer than 20 lines.

Keywords of max. 5 - 7 items should be included in manuscript.

Numeration. All chapters, including the introduction, should be numbered in arabic numerals. Equations, tables and figures as well as theorems, corollaries, examples etc., should be numbered consecutively throughout the paper in arabic numerals, except in appendices. Appendices should be numbered with capital letters, and numeration should be closed within individual appendices.

If the manuscript is not prepared with TeX, mathematical expressions should be carefully written so as not to arouse confusion. Care should be taken that subscripts and superscripts are easily readable.

Tables and figures should be placed as desired by the Author within the text or on separate sheets with their suggested location indicated by the number of table or figure in the text. Figures, graphs and pictures (referred to as Fig. in the manuscript) should be numbered at the beginning of their caption following the figure. All figures should be prepared as PostScript EPS files or LaTeX picture files; in special cases, bitmaps of figure are also acceptable. The numbers and titles of tables should be placed above the main body of each table.

References should be listed alphabetically at the end of the manuscript. They should be numbered in ascending order and the numbers should be inserted in square brackets. References should be organized as follows. First initial(s), surname(s) of the author(s) and title of article or book. Then, for papers: title of periodical or collective work, volume number (year of issue), issue number, and numbers of the first and the last page; for books: publisher's name(s), place and year of issue. Example:

  1. R. E. Kalman: Mathematical description of linear dynamical system. SIAM J. Control. 1(2), (1963), 152-192.
  2. F. C. Shweppe: Uncertain dynamic systems. Prentice-Hall, Englewood Cliffs, N.J. 1970.


Please, give full titles of journals; only common words like Journal, Proceedings, Conference, etc. may be abbreviated ( to J., Proc., Conf., ... respectively). References to publications in the body of the manuscript should be indicated by the numbers of the adequate references in square brackets. When the paper is set in TeX the preferable form of preparing references is Bib TeX bib database.

Footnotes should be placed in the manuscript, beginning with "Received..." (date to be filled in by Editor), the author's institutional affiliation and acknowledgement of financial support,

This page uses 'cookies'. Learn more