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Article
Publication date: 25 July 2023

Gerasimos G. Rigatos, Masoud Abbaszadeh, Bilal Sari and Jorge Pomares

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated…

Abstract

Purpose

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

Design/methodology/approach

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

Findings

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

Research limitations/implications

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

Practical implications

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

Social implications

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

Originality/value

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

Details

International Journal of Intelligent Unmanned Systems, vol. 12 no. 1
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 1 February 2024

Gerasimos G. Rigatos, Pierluigi Siano, Mohammed S. Al-Numay, Bilal Sari and Masoud Abbaszadeh

The purpose of this article is to treat the nonlinear optimal control problem in EV traction systems which are based on 5-phase induction motors. Five-phase permanent magnet…

Abstract

Purpose

The purpose of this article is to treat the nonlinear optimal control problem in EV traction systems which are based on 5-phase induction motors. Five-phase permanent magnet synchronous motors and five-phase asynchronous induction motors (IMs) are among the types of multiphase motors one can consider for the traction system of electric vehicles (EVs). By distributing the required power in a large number of phases, the power load of each individual phase is reduced. The cumulative rates of power in multiphase machines can be raised without stressing the connected converters. Multiphase motors are also fault tolerant because such machines remain functional even if failures affect certain phases.

Design/methodology/approach

A novel nonlinear optimal control approach has been developed for five-phase IMs. The dynamic model of the five-phase IM undergoes approximate linearization using Taylor series expansion and the computation of the associated Jacobian matrices. The linearization takes place at each sampling instance. For the linearized model of the motor, an H-infinity feedback controller is designed. This controller achieves the solution of the optimal control problem under model uncertainty and disturbances.

Findings

To select the feedback gains of the nonlinear optimal (H-infinity) controller, an algebraic Riccati equation has to be solved repetitively at each time-step of the control method. The global stability properties of the control loop are demonstrated through Lyapunov analysis. Under moderate conditions, the global asymptotic stability properties of the control scheme are proven. The proposed nonlinear optimal control method achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs.

Research limitations/implications

Comparing to other nonlinear control methods that one could have considered for five-phase IMs, the presented nonlinear optimal (H-infinity) control approach avoids complicated state-space model transformations, is of proven global stability and its use does not require the model of the motor to be brought into a specific state-space form. The nonlinear optimal control method has clear implementation stages and moderate computational effort.

Practical implications

In the transportation sector, there is progressive transition to EVs. The use of five-phase IMs in EVs exhibits specific advantages, by achieving a more balanced distribution of power in the multiple phases of the motor and by providing fault tolerance. The study’s nonlinear optimal control method for five-phase IMs enables high performance for such motors and their efficient use in the traction system of EVs.

Social implications

Nonlinear optimal control for five-phase IMs supports the deployment of their use in EVs. Therefore, it contributes to the net-zero objective that aims at eliminating the emission of harmful exhaust gases coming from human activities. Most known manufacturers of vehicles have shifted to the production of all-electric cars. The study’s findings can optimize the traction system of EVs thus also contributing to the growth of the EV industry.

Originality/value

The proposed nonlinear optimal control method is novel comparing to past attempts for solving the optimal control problem for nonlinear dynamical systems. It uses a novel approach for selecting the linearization points and a new Riccati equation for computing the feedback gains of the controller. The nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering , vol. 43 no. 1
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 19 March 2024

Mingke Gao, Zhenyu Zhang, Jinyuan Zhang, Shihao Tang, Han Zhang and Tao Pang

Because of the various advantages of reinforcement learning (RL) mentioned above, this study uses RL to train unmanned aerial vehicles to perform two tasks: target search and…

Abstract

Purpose

Because of the various advantages of reinforcement learning (RL) mentioned above, this study uses RL to train unmanned aerial vehicles to perform two tasks: target search and cooperative obstacle avoidance.

Design/methodology/approach

This study draws inspiration from the recurrent state-space model and recurrent models (RPM) to propose a simpler yet highly effective model called the unmanned aerial vehicles prediction model (UAVPM). The main objective is to assist in training the UAV representation model with a recurrent neural network, using the soft actor-critic algorithm.

Findings

This study proposes a generalized actor-critic framework consisting of three modules: representation, policy and value. This architecture serves as the foundation for training UAVPM. This study proposes the UAVPM, which is designed to aid in training the recurrent representation using the transition model, reward recovery model and observation recovery model. Unlike traditional approaches reliant solely on reward signals, RPM incorporates temporal information. In addition, it allows the inclusion of extra knowledge or information from virtual training environments. This study designs UAV target search and UAV cooperative obstacle avoidance tasks. The algorithm outperforms baselines in these two environments.

Originality/value

It is important to note that UAVPM does not play a role in the inference phase. This means that the representation model and policy remain independent of UAVPM. Consequently, this study can introduce additional “cheating” information from virtual training environments to guide the UAV representation without concerns about its real-world existence. By leveraging historical information more effectively, this study enhances UAVs’ decision-making abilities, thus improving the performance of both tasks at hand.

Details

International Journal of Web Information Systems, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1744-0084

Keywords

Article
Publication date: 13 February 2024

Muhammad Nabeel Siddiqui, Xiaolu Zhu, Hanad Rasool, Muhammad Bilal Afzal and Nigar Ahmed

The purpose of this paper is to design an output-feedback algorithm based on low-power observer (LPO), robust chattering-free controller and nonlinear disturbance observer (DO) to…

Abstract

Purpose

The purpose of this paper is to design an output-feedback algorithm based on low-power observer (LPO), robust chattering-free controller and nonlinear disturbance observer (DO) to achieve trajectory tracking of quadrotor in the Cartesian plane.

Design/methodology/approach

To achieve trajectory tracking control, firstly the decoupled rotational and translational model of quadrotor are modified by introducing backstepped state-space variables. In the second step, robust integral sliding mode control is designed based on the proportional-integral-derivative (PID) technique. In the third step, a DO is constructed. In next step, the measurable outputs, i.e. rotational and translational state variables, are used to design the LPO. Finally, in the control algorithm all state variables and its rates are replaced with its estimates obtained using the state-observer.

Findings

The finding includes output-feedback control (OFC) algorithm designed by using a LPO. A modified backstepping model for rotational and rotational systems is developed prior to the design of integral sliding mode control based on PID technique. Unlike traditional high-gain observers (HGO), this paper used the LPO for state estimation of quadrotor systems to solve the problem of peaking phenomenon in HGO. Furthermore, a nonlinear DO is designed such that it attenuates disturbance with unknown magnitude and frequency. Moreover, a chattering reduction criterion has been introduced to solve the inherited chattering issue of controllers based on sliding mode technique.

Practical implications

This paper presents input and output data-driven model-free control algorithm. That is, only input and output of the quadrotor model are required to achieve the trajectory tracking control. Therefore, for practical implementation, the number of on-board sensor is reduced.

Originality/value

Although extensive research has been done for designing OFC algorithms for quadrotor, LPO has never been implemented for the rotational and translational state estimations of quadrotor. Furthermore, the mathematical model of rotational and translational systems is modified by using backstepped variables followed by the controller designed using PID and integral sliding mode control technique. Moreover, a DO is developed for attenuation of disturbance with unknown bound, magnitude and frequency.

Details

Aircraft Engineering and Aerospace Technology, vol. 96 no. 2
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 6 February 2024

Alireza Goudarzian and Rohallah Pourbagher

Conventional isolated dc–dc converters offer an efficient solution for performing voltage conversion with a large improved voltage gain. However, the small-signal analysis of…

15

Abstract

Purpose

Conventional isolated dc–dc converters offer an efficient solution for performing voltage conversion with a large improved voltage gain. However, the small-signal analysis of these converters shows that a right-half-plane (RHP) zero appears in their control-to-output transfer function, exhibiting a nonminimum-phase stability. This RHP zero can limit the frequency response and dynamic specifications of the converters; therefore, the output voltage response is sluggish. To overcome these problems, the purpose of this study is to analyze, model and design a new isolated forward single-ended primary-inductor converter (IFSEPIC) through RHP zero alleviation.

Design/methodology/approach

At first, the normal operation of the suggested IFSEPIC is studied. Then, its average model and control-to-output transfer function are derived. Based on the obtained model and Routh–Hurwitz criterion, the components are suitably designed for the proposed IFSEPIC, such that the derived dynamic model can eliminate the RHP zero.

Findings

The advantages of the proposed IFSEPIC can be summarized as: This converter can provide conditions to achieve fast dynamic behavior and minimum-phase stability, owing to the RHP zero cancellation; with respect to conventional isolated converters, a larger gain can be realized using the proposed topology; thus, it is possible to attain a smaller operating duty cycle; for conventional isolated converters, transformer core saturation is a major concern, owing to a large magnetizing current. However, the average value of the magnetizing current becomes zero for the proposed IFSEPIC, thereby avoiding core saturation, particularly at high frequencies; and the input current of the proposed converter is continuous, reducing input current ripple.

Originality/value

The key benefits of the proposed IFSEPIC are shown via comparisons. To validate the design method and theoretical findings, a practical implementation is presented.

Details

Circuit World, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0305-6120

Keywords

Article
Publication date: 29 December 2023

Keunbae Ahn, Gerhard Hambusch, Kihoon Hong and Marco Navone

Throughout the 21st century, US households have experienced unprecedented levels of leverage. This dynamic has been exacerbated by income shortfalls during the COVID-19 crisis…

Abstract

Purpose

Throughout the 21st century, US households have experienced unprecedented levels of leverage. This dynamic has been exacerbated by income shortfalls during the COVID-19 crisis. Leveraging and deleveraging decisions affect household consumption. This study investigates the effect of the dynamics of household leverage and consumption on the stock market.

Design/methodology/approach

The authors explore the relation between household leverage and consumption in the context of the consumption capital asset pricing model (CCAPM). The authors test the model's implication that leverage has a negative risk premium by transforming the asset pricing restriction into an unconditional linear factor model and estimate the model using the general method of moments procedure. The authors run time-series regressions to estimate individual stocks' exposures to leverage, and cross-sectional regressions to investigate the leverage risk premium.

Findings

The authors show that shocks to household debt have strong and lasting effects on consumption growth. The authors extend the CCAPM to accommodate this effect and find, using various test assets, a negative risk premium associated with household deleveraging. Looking at individual stocks the authors show that the deleveraging risk premium is not explained by well-known risk factors.

Originality/value

This paper contributes to the literature on the role of leverage in economics and finance by establishing a relation between household leverage and spending decisions. The authors provide novel evidence that households' leveraging and deleveraging decisions can be a fundamental and influential force in determining asset prices. Further, this paper argues that household leverage might explain the small, persistent, and predictable component in consumption growth hypothesised in the long-run risk asset pricing literature.

Details

International Journal of Managerial Finance, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1743-9132

Keywords

Article
Publication date: 25 January 2024

Jain Vinith P.R., Navin Sam K., Vidya T., Joseph Godfrey A. and Venkadesan Arunachalam

This paper aims to Solar photovoltaic (PV) power can significantly impact the power system because of its intermittent nature. Hence, an accurate solar PV power forecasting model…

Abstract

Purpose

This paper aims to Solar photovoltaic (PV) power can significantly impact the power system because of its intermittent nature. Hence, an accurate solar PV power forecasting model is required for appropriate power system planning.

Design/methodology/approach

In this paper, a long short-term memory (LSTM)-based double deep Q-learning (DDQL) neural network (NN) is proposed for forecasting solar PV power indirectly over the long-term horizon. The past solar irradiance, temperature and wind speed are used for forecasting the solar PV power for a place using the proposed forecasting model.

Findings

The LSTM-based DDQL NN reduces over- and underestimation and avoids gradient vanishing. Thus, the proposed model improves the forecasting accuracy of solar PV power using deep learning techniques (DLTs). In addition, the proposed model requires less training time and forecasts solar PV power with improved stability.

Originality/value

The proposed model is trained and validated for several places with different climatic patterns and seasons. The proposed model is also tested for a place with a temperate climatic pattern by constructing an experimental solar PV system. The training, validation and testing results have confirmed the practicality of the proposed solar PV power forecasting model using LSTM-based DDQL NN.

Details

World Journal of Engineering, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1708-5284

Keywords

Article
Publication date: 7 November 2023

Kamal Pandey and Bhaskar Basu

In the context of a developing country, Indian buildings need further research to channelize energy needs optimally to reduce energy wastage, thereby reducing carbon emissions…

Abstract

Purpose

In the context of a developing country, Indian buildings need further research to channelize energy needs optimally to reduce energy wastage, thereby reducing carbon emissions. Also, reduction in smart devices’ costs with sequential advancements in Information and Communication Technology have resulted in an environment where model predictive control (MPC) strategies can be easily implemented. This study aims to propose certain preemptive measures to minimize the energy costs, while ensuring the thermal comfort for occupants, resulting in better greener solutions for building structures.

Design/methodology/approach

A simulation-based multi-input multi-output MPC strategy has been proposed. A dual objective function involving optimized energy consumption with acceptable thermal comfort has been achieved through simultaneous control of indoor temperature, humidity and illumination using various control variables. A regression-based lighting model and seasonal auto-regressive moving average with exogenous inputs (SARMAX) based temperature and humidity models have been chosen as predictor models along with four different control levels incorporated.

Findings

The mathematical approach in this study maintains an optimum tradeoff between energy cost savings and satisfactory occupants’ comfort levels. The proposed control mechanism establishes the relationships of output variables with respect to control and disturbance variables. The SARMAX and regression-based predictor models are found to be the best fit models in terms of accuracy, stability and superior performance. By adopting the proposed methodology, significant energy savings can be accomplished during certain hours of the day.

Research limitations/implications

This study has been done on a specific corporate entity and future analysis can be done on other corporate or residential buildings and in other geographical settings within India. Inclusion of sensitivity analysis and non-linear predictor models is another area of future scope.

Originality/value

This study presents a dynamic MPC strategy, using five disturbance variables which further improves the overall performance and accuracy. In contrast to previous studies on MPC, SARMAX model has been used in this study, which is a novel contribution to the theoretical literature. Four levels of control zones: pre-cooling, strict, mild and loose zones have been used in the calculations to keep the Predictive Mean Vote index within acceptable threshold limits.

Article
Publication date: 29 December 2023

You Li, Yaping Chang, Zhen Li and Lixiao Geng

Although buy-online-and-pick-up-in-store (BOPS) has been widely implemented by companies, scant attention has been paid to its effect on consumer experience and the concomitant…

Abstract

Purpose

Although buy-online-and-pick-up-in-store (BOPS) has been widely implemented by companies, scant attention has been paid to its effect on consumer experience and the concomitant outcomes. Using the psychological ownership theory, this study aims to examine whether and how the BOPS experience (vs online experience) can enhance consumer loyalty.

Design/methodology/approach

Study 1 investigated the consumer loyalty of shopping experience (self-pickup vs delivery) on actual consumer behavior through secondary data. Studies 2, 3 and 4 were controlled experiments to further investigate the mediating effect of product psychological ownership, and the moderating effects of product type and postdecision experience valence.

Findings

The authors found that BOPS shopping led to higher consumer loyalty (i.e. repeat purchase and repeat purchase frequency) compared with online shopping. Furthermore, the authors examined that this effect was mediated by product psychological ownership and moderated by product type and postdecision experience valence.

Research limitations/implications

Theoretical speculations about how BOPS shopping affects consumer experience should be probed in future research.

Practical implications

Retailers with physical stores can offer in-store pickup options for their online consumers to increase their product psychological ownership and consumer loyalty. And the positive effects of the BOPS strategy relied on product type and postdecision experience valence.

Originality/value

This research offers theoretical contributions to research on the BOPS strategy, psychological ownership theory and consumer loyalty.

Details

European Journal of Marketing, vol. 58 no. 1
Type: Research Article
ISSN: 0309-0566

Keywords

Article
Publication date: 14 February 2024

Huiyu Cui, Honggang Guo, Jianzhou Wang and Yong Wang

With the rise in wine consumption, accurate wine price forecasts have significantly impacted restaurant and hotel purchasing decisions and inventory management. This study aims to…

Abstract

Purpose

With the rise in wine consumption, accurate wine price forecasts have significantly impacted restaurant and hotel purchasing decisions and inventory management. This study aims to develop a precise and effective wine price point and interval forecasting model.

Design/methodology/approach

The proposed forecast model uses an improved hybrid kernel extreme learning machine with an attention mechanism and a multi-objective swarm intelligent optimization algorithm to produce more accurate price estimates. To the best of the authors’ knowledge, this is the first attempt at applying artificial intelligence techniques to improve wine price prediction. Additionally, an effective method for predicting price intervals was constructed by leveraging the characteristics of the error distribution. This approach facilitates quantifying the uncertainty of wine price fluctuations, thus rendering decision-making by relevant practitioners more reliable and controllable.

Findings

The empirical findings indicated that the proposed forecast model provides accurate wine price predictions and reliable uncertainty analysis results. Compared with the benchmark models, the proposed model exhibited superiority in both one-step- and multi-step-ahead forecasts. Meanwhile, the model provides new evidence from artificial intelligence to explain wine prices and understand their driving factors.

Originality/value

This study is a pioneering attempt to evaluate the applicability and effectiveness of advanced artificial intelligence techniques in wine price forecasts. The proposed forecast model not only provides useful options for wine price forecasting but also introduces an innovative addition to existing forecasting research methods and literature.

Details

International Journal of Contemporary Hospitality Management, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0959-6119

Keywords

1 – 10 of over 3000