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Robust hybrid synchronization control of chaotic 3-cell CNN with uncertain parameters using smooth super twisting algorithm

Siddique Nazam, Rehman Fazal, Raoof Uzair, Iqbal Shahid, Rashad Muhammad

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2023

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Vol. 71, nr 5

art. no. e146474

EN

This paper presents the control design framework for the hybrid synchronization (HS) and parameter identification of the 3-Cell Cellular Neural Network. The cellular neural network (CNN) of this kind has increasing practical importance but due to its strong chaotic behavior and the presence of uncertain parameters make it difficult to design a smooth control framework. Sliding mode control (SMC) is very helpful for this kind of environment where the systems are nonlinear and have uncertain parameters and bounded disturbances. However, conventional SMC offers a dangerous chattering phenomenon, which is not acceptable in this scenario. To get chattering-free control, smooth higher-order SMC formulated on the smooth super twisting algorithm (SSTA) is proposed in this article. The stability of the sliding surface is ensured by the Lyapunov stability theory. The convergence of the error system to zero yields hybrid synchronization and the unknown parameters are computed adaptively. Finally, the results of the proposed control technique are compared with the adaptive integral sliding mode control (AISMC). Numerical simulation results validate the performance of the proposed algorithm.

2

Review, design, stabilization and synchronization of fractional-order energy resources demand-supply hyperchaotic systems using fractional-order PD-based feedback control scheme

Soukkou Ammar, Soukkou Yassine, Haddad Sofiane, Benghanem Mohamed, Rabhi Abdelhamid

Archives of Control Sciences

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2023

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Vol. 33, No. 3

539--563

EN

This paper introduces a fractional-order PD approach (F-oPD) designed to control a large class of dynamical systems known as fractional-order chaotic systems (F-oCSs). The design process involves formulating an optimization problem to determine the parameters of the developed controller while satisfying the desired performance criteria. The stability of the control loop is initially assessed using the Lyapunov’s direct method and the latest stability assumptions for fractional-order systems. Additionally, an optimization algorithm inspired by the flight skills and foraging behavior of hummingbirds, known as the Artificial Hummingbird Algorithm (AHA), is employed as a tool for optimization. To evaluate the effectiveness of the proposed design approach, the fractional-order energy resources demand-supply (Fo-ERDS) hyperchaotic system is utilized as an illustrative example.

3

An observer-based adaptive fuzzy control for prescribing drug dosage in cancer treatment

Bandpey Razieh Firouzpour, Kalat Ali Akbarzadeh

Biocybernetics and Biomedical Engineering

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2022

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Vol. 42, no. 4

1137--1148

EN

In this study, an observer-based adaptive fuzzy controller for prescribing drug dosage in cancer treatment is presented. In the controller design, it is supposed that only the tumor cells and the concentration of Interleukin-2 (IL-2) are measurable. After defining new state variables for the system, a state observer is employed to estimate the unmeasurable state when the unknown dynamic functions of the system are approximated by the fuzzy systems. The stability of the closed-loop system is demonstrated using the Lyapunov theory. Simulation results show the good performance of the observer-based controller taking into account the unknown system dynamics.

4

Adaptive control of redundant robotic manipulators with state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

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2012

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Vol. 17, no. 4

1123-1138

EN

In this work, the problem of real-time controlling a kinematically redundant manipulator is considered, so that its end-effector follows the prescribed geometric path. Provided that, a solution to the control problem of redundant manipulator exists, the Lyapunov stability theory is used to derive the control scheme generating a corresponding trajectory whose equilibrium is asymptotically stable. The approach offered does not require any inverse of robot kinematic equations and the exact knowledge of robot dynamic equations. Instead, a generalized transpose Jacobian controller with adaptive component estimating the gravity term is introduced to generate robot controls. The numerical simulation results carried out for a planar redundant 3-dof (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two dimensional task space, illustrate the trajectory performance of the proposed control scheme.

5

Generating the controls for mobile manipulators subject to state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

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2011

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Vol. 16, no 4

989-1003

EN

This paper addresses the problem of position regulation at the control feed back level of a mobile manipulator. The task is subject to state equality and/or inequality constraints. Based on the Lyapunov stability theory, a class of asymptotically stable controllers fulfilling the above constraints and generating a singularity and collision free mobile manipulator trajectory, is proposed. The problem of singularity and collision avoidance enforcement is solved here based on an exterior penalty function approach which results in continuous and bounded mobile manipulator controls even near boundaries of obstacles. The numerical simulation results carried out for a mobile manipulator consisting of a nonholonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating both in a two-dimensional unconstrained task space and task space including the obstacles, illustrate the performance of the proposed controllers.