A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot.

A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the ITAE index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.

Robust Variable-Step Perturb-and-Observe Sliding Mode Controller for Grid-Connected Wind-Energy-Conversion Systems.

In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machine-side converter (MSC). The control strategy was applied on a WT based permanent-magnet synchronous generator (PMSG) to overcome the downsides of the currently published P&O MPPT methods. Particularly, two main points were involved. Firstly, a systematic step-size selection on the basis of power and speed measurement normalization was proposed; secondly, to obtain acceptable robustness for high and long wind-speed variations, a new correction to calculate the power variation was carried out. The grid-side converter (GSC) was controlled using a second-order sliding mode controller (SOSMC) with an adaptive-gain super-twisting algorithm (STA) to realize the high-quality seamless setting of power injected into the grid, a satisfactory power factor correction, a high harmonic performance of the AC source, and removal of the chatter effect compared to the traditional first-order sliding mode controller (FOSMC). Simulation results showed the superiority of the suggested RVS-P&O over the competing based P&O techniques. The RVS-P&O offered the WT an efficiency of 99.35%, which was an increase of 3.82% over the variable-step P&O algorithm. Indeed, the settling time was remarkably enhanced; it was 0.00794 s, which was better than for LS-P&O (0.0841 s), SS-P&O (0.1617 s), and VS-P&O (0.2224 s). Therefore, in terms of energy efficiency, as well as transient and steady-state response performances under various operating conditions, the RVS-P&O algorithm could be an accurate candidate for MPP online operation tracking.

Anti-Disturbance Compensation-Based Nonlinear Control for a Class of MIMO Uncertain Nonlinear Systems.

Multi-Inputs-Multi-Outputs (MIMO) systems are recognized mainly in industrial applications with both input and state couplings, and uncertainties. The essential principle to deal with such difficulties is to eliminate the input couplings, then estimate the remaining issues in real-time, followed by an elimination process from the input channels. These difficulties are resolved in this research paper, where a decentralized control scheme is suggested using an Improved Active Disturbance Rejection Control (IADRC) configuration. A theoretical analysis using a state-space eigenvalue test followed by numerical simulations on a general uncertain nonlinear highly coupled MIMO system validated the effectiveness of the proposed control scheme in controlling such MIMO systems. Time-domain comparisons with the Conventional Active Disturbance Rejection Control (CADRC)-based decentralizing control scheme are also included.

Grid-Based Mobile Robot Path Planning Using Aging-Based Ant Colony Optimization Algorithm in Static and Dynamic Environments.

Planning an optimal path for a mobile robot is a complicated problem as it allows the mobile robots to navigate autonomously by following the safest and shortest path between starting and goal points. The present work deals with the design of intelligent path planning algorithms for a mobile robot in static and dynamic environments based on swarm intelligence optimization. A modification based on the age of the ant is introduced to standard ant colony optimization, called modified aging ant colony optimization (AACO). The AACO was implemented in association with grid-based modeling for the static and dynamic environments to solve the path planning problem. The simulations are run in the MATLAB environment to test the validity of the proposed algorithms. Simulations showed that the proposed path planning algorithms result in superior performance by finding the shortest and the most free-collision path under various static and dynamic scenarios. Furthermore, the superiority of the proposed algorithms was proved through comparisons with other traditional path planning algorithms with different static environments.

Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System.

A consensus control law is proposed for a multi-agent system of quadrotors with leader-follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.

A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles.

This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

Mathematical Modeling and Control of COVID-19 Using Super Twisting Sliding Mode and Nonlinear Techniques.

Since the outbreak of the COVID-19 epidemic, several control strategies have been proposed. The rapid spread of COVID-19 globally, allied with the fact that COVID-19 is a serious threat to people's health and life, motivated many researchers around the world to investigate new methods and techniques to control its spread and offer treatment. Currently, the most effective approach to containing SARS-CoV-2 (COVID-19) and minimizing its impact on education and the economy remains a vaccination control strategy, however. In this paper, a modified version of the susceptible, exposed, infectious, and recovered (SEIR) model using vaccination control with a novel construct of active disturbance rejection control (ADRC) is thus used to generate a proper vaccination control scheme by rejecting those disturbances that might possibly affect the system. For the COVID-19 system, which has a unit relative degree, a new structure for the ADRC has been introduced by embedding the tracking differentiator (TD) in the control unit to obtain an error signal and its derivative. Two further novel nonlinear controllers, the nonlinear PID and a super twisting sliding mode (STC-SM) were also used with the TD to develop a new version of the nonlinear state error feedback (NLSEF), while a new nonlinear extended state observer (NLESO) was introduced to estimate the system state and total disturbance. The final simulation results show that the proposed methods achieve excellent performance compared to conventional active disturbance rejection controls.

Deepening into the suitability of using pre-trained models of ImageNet against a lightweight convolutional neural network in medical imaging: an experimental study.

Transfer learning (TL) has been widely utilized to address the lack of training data for deep learning models. Specifically, one of the most popular uses of TL has been for the pre-trained models of the ImageNet dataset. Nevertheless, although these pre-trained models have shown an effective performance in several domains of application, those models may not offer significant benefits in all instances when dealing with medical imaging scenarios. Such models were designed to classify a thousand classes of natural images. There are fundamental differences between these models and those dealing with medical imaging tasks regarding learned features. Most medical imaging applications range from two to ten different classes, where we suspect that it would not be necessary to employ deeper learning models. This paper investigates such a hypothesis and develops an experimental study to examine the corresponding conclusions about this issue. The lightweight convolutional neural network (CNN) model and the pre-trained models have been evaluated using three different medical imaging datasets. We have trained the lightweight CNN model and the pre-trained models with two scenarios which are with a small number of images once and a large number of images once again. Surprisingly, it has been found that the lightweight model trained from scratch achieved a more competitive performance when compared to the pre-trained model. More importantly, the lightweight CNN model can be successfully trained and tested using basic computational tools and provide high-quality results, specifically when using medical imaging datasets.