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Article
Publication date: 7 October 2021

Sunil Kumar, Surath Ghosh, Shaher Momani and S. Hadid

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile…

Abstract

Purpose

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile species. This paper aims to propose a new Yang-Abdel-Aty-Cattani (YAC) fractional operator with a non-singular kernel to solve nonlinear partial differential equation, which is arised in biological population model. Here, this study has explained the analytical methods, reduced differential transform method (RDTM) and residual power series method (RPSM) taking the fractional derivative as YAC operator sense.

Design/methodology/approach

This study has explained the analytical methods, RDTM and RPSM taking the fractional derivative as YAC operator sense.

Findings

This study has expressed the solutions in terms of Mittag-Leffler functions. Also, this study has compared the solutions with the exact solutions. Three examples are described for the accuracy and efficiency of the results.

Research limitations/implications

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile species. In this study, the main aim is to propose a new YAC fractional operator with non-singular kernel to solve nonlinear partial differential equation, which is arised in biological population model. Here, this study has explained the analytical methods, RDTM and RPSM taking the fractional derivative as YAC operator sense. This study has expressed the solutions in terms of Mittag-Leer functions. Also, this study has compared the solutions with the exact solutions. Three examples are described for the accuracy and efficiency of the results.

Practical implications

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile species. In this paper, the main aim is to propose a new YAC fractional operator with non-singular kernel to solve nonlinear partial differential equation which is arised in biological population model. Here, this study has explained the analytical methods, RDTM and RPSM taking the fractional derivative as YAC operator sense. This study has expressed the solutions in terms of Mittag-Leer functions. Also, this study has compared the solutions with the exact solutions. Three examples are described for the accuracy and efficiency of the results.

Social implications

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile species. In this paper, the main aim is to propose a new YAC fractional operator with non-singular kernel to solve nonlinear partial differential equation, which is arised in biological population model. Here, this paper has explained the analytical methods, RDTM and RPSM taking the fractional derivative as YAC operator sense. This study has expressed the solutions in terms of Mittag-Leer functions. Also, this study has compared the solutions with the exact solutions. Three examples are described for the accuracy and efficiency of the results.

Originality/value

The population model has an important role in biology to interpret the spreading rate of viruses and parasites. This biological model is also used to identify fragile species. In this paper, the main aim is to propose a new YAC fractional operator with non-singular kernel to solve nonlinear partial differential equation, which is arised in biological population model. Here, this paper has explained the analytical methods, RDTM and RPSM taking the fractional derivative as YAC operator sense. This study has expressed the solutions in terms of Mittag-Leer functions. Also, this study has compared the solutions with the exact solutions. Three examples are described for the accuracy and efficiency of the results.

Article
Publication date: 19 June 2017

Moharam Habibnejad Korayem, Reza Shiri, Saeed Rafee Nekoo and Zohair Fazilati

The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and…

Abstract

Purpose

The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and center of mass of mobile base which includes rotation of wheels. The aim is to control the mobile base and its mounted arms using a unified sliding surface.

Design/methodology/approach

A new implementation of sliding mode control has been proposed for wheeled mobile manipulators, regulation and tracking cases. In the conventional sliding mode design, the position and velocity of each coordinate are often considered as the states in the sliding surface, and consequently, the input control is found based on them. A mobile robot consisted of non-holonomic constraints, makes the definition of the sliding surface more complex and it cannot simply include the coordinates of the system.

Findings

Formulism of both sliding mode control and non-singular terminal sliding mode control were presented and implemented on Scout robot. The simulations were validated with experimental studies, which led to satisfactory analysis. The non-singular terminal sliding mode control actually had a better performance, as it was illustrated that at time 10 s, the error for that was only 8.4 mm, where the error for conventional sliding mode control was 11.2 mm.

Originality/value

This work proposes sliding mode and non-singular terminal sliding mode control structure for wheeled mobile robot with a sliding surface including state variables: center of mass of base, wheels’ rotation and arm coordinates.

Details

Industrial Robot: An International Journal, vol. 44 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 10 June 2022

Chao Tan, Huan Zhao and Han Ding

Branched articulated robots (BARs) are highly non-linear systems; accurate dynamic identification is critical for model-based control in high-speed and heavy-load…

Abstract

Purpose

Branched articulated robots (BARs) are highly non-linear systems; accurate dynamic identification is critical for model-based control in high-speed and heavy-load applications. However, due to some dynamic parameters being redundant, dynamic models are singular, which increases the calculation amount and reduces the robustness of identification. This paper aims to propose a novel methodology for the dynamic analysis and redundant parameters elimination of BARs.

Design/methodology/approach

At first, the motion of a rigid body is divided into constraint-dependent and constraint-independent. The redundancy of inertial parameters is analyzed from physical constraints. Then, the redundant parameters are eliminated by mapping posterior links to their antecedents, which can be applied for re-deriving the Newton–Euler formulas. Finally, through parameter transformation, the presented dynamic model is non-singular and available for identification directly.

Findings

New formulas for redundant parameters elimination are explicit and computationally efficient. This unifies the redundant parameters elimination of prismatic and revolute joints for BARs, and it is also applicable to other types of joints containing constraints. The proposed approach is conducive to facilitating the modelling phase during the robot identification. Simulation studies are conducted to illustrate the effectiveness of the proposed redundant parameters elimination and non-singular dynamic model determination. Experimental studies are carried out to verify the result of the identification algorithm.

Originality/value

This work proposes to determine and directly identify the non-redundant dynamic model of robots, which can help to reduce the procedure of obtaining the reversible regression matrix for identification.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 4 April 2022

Yuxia Ji, Li Chen, Jun Zhang, Dexin Zhang and Xiaowei Shao

The purpose of this paper is to investigate the pose control of rigid spacecraft subject to dead-zone input, unknown external disturbance and parametric uncertainty in…

84

Abstract

Purpose

The purpose of this paper is to investigate the pose control of rigid spacecraft subject to dead-zone input, unknown external disturbance and parametric uncertainty in space maneuvering mission.

Design/methodology/approach

First, a 6-Degree of Freedom (DOF) dynamic model of rigid spacecraft with dead-zone input, unknown external disturbances and parametric uncertainty is derived. Second, a super-twisting-like fixed-time disturbance observer (FTDO) with strong robustness is developed to estimate the lumped disturbances in fixed time. Based on the proposed observer, a non-singular fixed-time terminal sliding-mode (NFTSM) controller with superior performance is proposed.

Findings

Different from the existing sliding-mode controllers, the proposed control scheme can directly avoid the singularity in the controller design and speed up the convergence rate with improved control accuracy. Moreover, no prior knowledge of lumped disturbances’ upper bound and its first derivatives is required. The fixed-time stability of the entire closed-loop system is rigorously proved in the Lyapunov framework. Finally, the effectiveness and superiority of the proposed control scheme are proved by comparison with existing approaches.

Research limitations/implications

The proposed NFTSM controller can merely be applied to a specific type of spacecrafts, as the relevant system states should be measurable.

Practical implications

A NFTSM controller based on a super-twisting-like FTDO can efficiently deal with dead-zone input, unknown external disturbance and parametric uncertainty for spacecraft pose control.

Originality/value

This investigation uses NFTSM control and super-twisting-like FTDO to achieve spacecraft pose control subject to dead-zone input, unknown external disturbance and parametric uncertainty.

Details

Aircraft Engineering and Aerospace Technology, vol. 94 no. 8
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 2 May 2022

Mati Ullah, Chunhui Zhao and Hamid Maqsood

The purpose of this paper is to design a hybrid robust tracking controller based on an improved radial basis function artificial neural network (IRBFANN) and a novel…

Abstract

Purpose

The purpose of this paper is to design a hybrid robust tracking controller based on an improved radial basis function artificial neural network (IRBFANN) and a novel extended-state observer for a quadrotor system with various model and parametric uncertainties and external disturbances to enhance the resiliency of the control system.

Design/methodology/approach

An IRBFANN is introduced as an adaptive compensator tool for model and parametric uncertainties in the control algorithm of non-singular rapid terminal sliding-mode control (NRTSMC). An exact-time extended state observer (ETESO) augmented with NRTSMC is designed to estimate the unknown exogenous disturbances and ensure fast states convergence while overcoming the singularity issue. The novelty of this work lies in the online updating of weight parameters of the RBFANN algorithm by using a new idea of incorporating an exponential sliding-mode effect, which makes a remarkable effort to make the control protocol adaptive to uncertain model parameters. A comparison of the proposed scheme with other conventional schemes shows its much better performance in the presence of parametric uncertainties and exogenous disturbances.

Findings

The investigated control strategy presents a robust adaptive law based on IRBFANN with a fast convergence rate and improved estimation accuracy via a novel ETESO.

Practical implications

To enhance the safety level and ensure stable flight operations by the quadrotor in the presence of high-order complex disturbances and uncertain environments, it is imperative to devise a robust control law.

Originality/value

A new idea of incorporating an exponential sliding-mode effect instead of conventional approaches in the algorithm of the RBFANN is used, which makes the control law resistant to model and parametric uncertainties. The ETESO provides rapid and accurate disturbance estimation results and updates the control law to overcome the performance degradation caused by the disturbances. Simulation results depict the effectiveness of the proposed control strategy.

Details

Aircraft Engineering and Aerospace Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 3 May 2016

Kai Wang, Shiting Wen, Rizwan Zahoor, Ming Li and Božidar Šarler

The purpose of this paper is to find solution of Stokes flow problems with Dirichlet and Neumann boundary conditions in axisymmetry using an efficient non-singular method…

Abstract

Purpose

The purpose of this paper is to find solution of Stokes flow problems with Dirichlet and Neumann boundary conditions in axisymmetry using an efficient non-singular method of fundamental solutions that does not require an artificial boundary, i.e. source points of the fundamental solution coincide with the collocation points on the boundary. The fundamental solution of the Stokes pressure and velocity represents analytical solution of the flow due to a singular Dirac delta source in infinite space.

Design/methodology/approach

Instead of the singular source, a non-singular source with a regularization parameter is employed. Regularized axisymmetric sources were derived from the regularized three-dimensional sources by integrating over the symmetry coordinate. The analytical expressions for related Stokes flow pressure and velocity around such regularized axisymmetric sources have been derived. The solution to the problem is sought as a linear combination of the fields due to the regularized sources that coincide with the boundary. The intensities of the sources are chosen in such a way that the solution complies with the boundary conditions.

Findings

An axisymmetric driven cavity numerical example and the flow in a hollow tube and flow between two concentric tubes are chosen to assess the performance of the method. The results of the newly developed method of regularized sources in axisymmetry are compared with the results obtained by the fine-grid second-order classical finite difference method and analytical solution. The results converge with a finer discretization, however, as expected, they depend on the value of the regularization parameter. The method gives accurate results if the value of this parameter scales with the typical nodal distance on the boundary.

Originality/value

Analytical expressions for the axisymmetric blobs are derived. The method of regularized sources is for the first time applied to axisymmetric Stokes flow problems.

Details

International Journal of Numerical Methods for Heat & Fluid Flow, vol. 26 no. 3/4
Type: Research Article
ISSN: 0961-5539

Keywords

Article
Publication date: 7 August 2017

Chao Ma

The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.

Abstract

Purpose

The purpose of this paper is to design a new compliant motion/force control strategy for robotic manipulators with environmental constraints in the sense of fixed-time stability.

Design/methodology/approach

This paper investigates a novel compliant motion/force control strategy for robotic manipulators with environmental constraints. By using the Lyapunov theory and fixed-time stability theory, a non-singular terminal sliding mode manifold is first established. Then, the compliant motion/force controller is designed, and relevant conditions are given for guaranteeing that the robotic manipulator can track the prescribed constrained trajectory while exerting a desired force to the environment in fixed-time. An illustrative example is presented to show the effectiveness of our proposed control strategy.

Findings

Based on fixed-time stability theory, the desired compliant motion/force controller for robotic manipulators with environmental constraints is developed.

Originality/value

Compared with most existing literature, the proposed fixed-time compliant motion/force control strategy can provide the upper bound of the settling time independent of the initial conditions in designing procedure and is more practical for the real-world applications.

Details

Assembly Automation, vol. 37 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 1 January 1993

MACIEJ KOWALCZYK

This paper is concerned with rank analysis of rectangular matrix of a homogeneous set of incremental equations regarded as an element of continuation method. The rank…

Abstract

This paper is concerned with rank analysis of rectangular matrix of a homogeneous set of incremental equations regarded as an element of continuation method. The rank analysis is based on a known feature that every rectangular matrix can be transformed into the matrix of echelon form. By inspection of the rank, correct control parameters are chosen and this allows not only for rounding limit and turning points but also for branch‐switching near bifurcation points.

Details

Engineering Computations, vol. 10 no. 1
Type: Research Article
ISSN: 0264-4401

Keywords

Article
Publication date: 25 October 2021

Yang Yuan and Haibin Duan

The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach…

Abstract

Purpose

The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach to obtain better control results.

Design/methodology/approach

Aiming at the problem that quadrotor is susceptible to disturbance in outdoor flight, the improved active disturbance rejection control (IADRC) is applied to design attitude controller. To overcome the difficulty that adjusting the parameters of IADRC controller manually is complex, paired coevolution pigeon-inspired optimization (PCPIO) algorithm is used to optimize the control parameters.

Findings

The IADRC, where nonlinear state error feedback control law is replaced by non-singular fast terminal sliding mode control law and a third-order tracking differentiator is designed for second derivative of the state, has higher control accuracy and better robustness than ADRC. The improved PIO algorithm based on evolutionary mechanism, named PCPIO, is proposed. The optimal parameters of ADRC controller are found by PCPIO with the optimization criterion of integral of time-weighted absolute value of the error. The effectiveness of the proposed method is verified by a series of simulation experiments.

Practical implications

IADRC can improve the accuracy of attitude control of quadrotor and resist external interference more effectively. The proposed PCPIO algorithm can be easily applied to practice and can help the design of the quadrotor control system.

Originality/value

An improved active disturbance rejection controller is designed for quadrotor attitude control, and a hybrid model of PIO and evolution mechanism is proposed for parameters identification of the controller.

Article
Publication date: 16 November 2012

M.A.K. Chowdhuri and Z. Xia

It is well known that stress singularity may exist at the edges of a bonded bi‐material interface due to the discontinuity of material properties. This stress singularity…

1011

Abstract

Purpose

It is well known that stress singularity may exist at the edges of a bonded bi‐material interface due to the discontinuity of material properties. This stress singularity causes difficulty in accurately determining the bi‐material interface bonding strength. This paper aims to present a new design of specimen geometry to eliminate the stress singularity and present an experimental procedure to more accurately determine the bonding strength of the bi‐material interface.

Design/methodology/approach

The design is based on an asymptotic analysis of the stress field near the free edge of bi‐material interface. The critical bonding angle, which delineates the singular and non‐singular stress field near the free edge, is determined.

Findings

With the new designed specimen and a special iterative calculation algorithm, the interface bonding strength envelope of an epoxy‐aluminum interface was experimentally determined.

Originality/value

This new design of specimen, experimental procedure and iterative algorithm may be applied to obtain more reasonable and accurate bonding strength data for a wide range of bi‐material interfaces.

Details

International Journal of Structural Integrity, vol. 3 no. 4
Type: Research Article
ISSN: 1757-9864

Keywords

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