Visual inspection of surface defects is a crucial step in the magnetic tile manufacturing process. Magnetic tile images suffer from a non-uniform illumination, texture and noise that disperse irregularly in flawless image areas. As a result, common edge detection and threshold segmentation techniques fail to identify these kinds of defects. In this work, we present a robust algorithm for defect identification

It is challenging and crucial to achieve unbiased tracking control for parabolic trough collector field as it is vulnerable to various types of disturbances or uncertainties such as unmeasured external disturbances, parameter perturbation and model mismatch. To solve this issue, an optimal model predictive rejection control strategy is put forward in a composite designed manner, in which all distu

Presented in this research paper is an integrated direct yaw moment control (DYC) and active front steering (AFS) for an uncertain vehicle lateral dynamics model considering network-induced communication delay, which is a time-varying continuous function with a known upper bound. Firstly, we consider tire cornering stiffness as a non-linear norm-bounded uncertain system that is modeled by fuzzy membership

This paper investigates the adaptive output tracking problem for a class of high-order stochastic nonlinear systems with unknown time-varying powers and nonlinear parameterized uncertainties. By using the parameter separation technique and adding a power integrator design method, an adaptive controller with upper and lower bounds of the unknown time-varying power is successfully designed to guarantee

This paper proposes a hybrid aperiodic sampled-data mechanism for the control of interconnected subsystems with time-delay. The proposed aperiodic sampled-data mechanism comprises of two stages. In the first stage, the next sampling instant for each subsystem is computed using self-triggering strategy. Thereafter, in the second stage, an event-triggering condition is checked at these sampling instants

This special issue of Transactions of the Institute of Measurement and Control contains extended versions of the selected papers presented at the 21st Turkish National Conference on Automatic Control (TOK 2019) organised by Mugla Sitki Kocman University on 11–14 September 2019. TOK conferences are one of the most important activities of the Turkish Automatic Control National Committee, which was established

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification

This paper tackles the issue of global stabilization for a class of delayed switched inertial neural networks (SINN). Distinct from the frequently employed reduced-order technique, this paper studies SINN directly through non-reduced order method. By constructing a novel Lyapunov functional and using Barbalat Lemma, sufficient conditions for the global asymptotic stabilization issue and global exponential

The objective of the paper is to present the efficient and dynamic sensorless speed control of a surface permanent magnet synchronous motor (SPMSM) drive at a wide speed range. For high-performance speed sensorless control, a finite control set model predictive current control (FCS-MPCC) algorithm based on a model reference adaptive system (MRAS) is proposed. With the FCS-MPCC algorithm, the inner

This paper is concerned with the H∞ control problem for Lipschitz nonlinear systems in the finite-frequency domain. Both parameter uncertainties and external disturbances are considered. In contrast to existing full-frequency methods, the proposed approach takes into account of the frequency information of disturbances during the design proceeding. Sufficient analysis conditions for the closed-loop

This paper presents control and synchronization for two nonlinear chaotic systems in the presence of uncertainties and external disturbances based on an intuitionistic fuzzy control (IFC) scheme. Two classes of Chua and cubic Chua oscillators have been formulated as master and slave respectively. The master and slave systems have different initial conditions and parameters, which leads to the butterfly

To solve the problem of cooperative encirclement and simultaneous attack of multiple unmanned aerial vehicles, variational method and Hamiltonian optimization are utilized to design an optimal attack trajectory of multiple attackers pursuing a single target that has fixed initial relative state, fixed final relative state and fixed duration of the attack under condition that the acceleration of the

The problem of the integrated guidance and control (IGC) design for strap-down missile with the field-of-view (FOV) constraint is solved by using the integral barrier Lyapunov function (iBLF) and the sliding mode control theory. Firstly, the nonlinear and uncertainty state equation with non-strict feedback form for IGC design is derived by using the strap-down decoupling strategy. Secondly, a novel

This paper is focused on the distributed control of connected vehicles via vehicle-to-vehicle (V2V) communication. A mixed predecessor following topology with a virtual leader under constant time headway policy is analysed in case of communication and input delays. The longitudinal dynamics of each vehicle in the platoon is represented by a third-order linear model. Unavoidable communication and input

Reasonable information scheduling strategies in the networked control system (NCS) can improve the quality of service of the network, reduce the conflict of information transmission in the network, and improve the overall performance of the NCS. In order to improve the performance of the NCS, a deadband feedback-based scheduling approach for the NCS with a variable sampling period is proposed. For

In this paper, output tracking of a geometric path for a nonlinear uncertain system with input and state constraints is considered. We propose an enhanced two-loop model predictive control approach for output tracking of a nonlinear uncertain system. Additionally, we propose an optimal version of output path following control problem to improve the controller synthesis. Satisfaction of the dynamical

This paper concerns the improvement on proportional-integration-derivative (PID) control for the electro-optical tracking system for high-mobility targets. To achieve higher tracking precision and stronger disturbance rejection while fully utilizing the existing PID loop, the add-on integration module is proposed and seamlessly integrated into the conventional PID loop. It is proven that for any given

The problem of adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations is studied in this paper. Without imposing any assumptions on the time-varying delay, an adaptive state-feedback controller is skillfully designed by using the input-state scaling technique and an adaptive backstepping control approach. Then, by adopting the switching

Considering the influence of sensor fault modes on the system performance in communication network, under the discrete event-triggered communication scheme (DETCS), the problems of the robust L1 filtering for a class of uncertain networked control systems (NCSs) with multiple sensor fault modes and persistent and amplitude-bounded disturbance constraints are investigated. A set of stochastic variables

Motor oils have to be changed periodically in a period of 10.000–20.000 km according to the motor types. A chiral metamaterial sensor that operates in X band is developed to determine the quality of motor oils, numerically analyzed and experimentally tested in this study. The proposed design has square and circular shaped resonators that are printed on IS680 substrate. Reflection coefficient parameters

Based on the Riemann–Liouville fractional derivative, an optimal displacement control strategy for fractional incommensurate mass-spring oscillators has been presented. According to the calculus of variations and the Lagrange multiplier technique, the optimality conditions for the given problem are obtained. Using Shifted Legendre polynomials, the problem of solving differential equations is transformed

The research of an effective denoising algorithm for the actual obtained signals with chaotic characteristics is of great interest to all fields of the subject. To show the true chaotic state and analyze the dynamic characteristics of the chaotic system more accurately, an improved denoising algorithm using wavelet packet is proposed in this paper. Wavelet packet decomposition has an optimal sub-band

This paper is concerned with the nonlinear tracking control design for robot manipulators. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective control design. Using a descriptor fuzzy model-based framework, we propose a new approach to design a feedback-feedforward control scheme for robot manipulators in a general form. The

This paper is concerned with the finite-time boundedness of two dimensional (2-D) positive continuous-discrete systems in Roesser model. By constructing an appropriate co-positive type Lyapunov function, sufficient conditions of finite-time stability for the nominal 2-D positive continuous-discrete system are established. Sufficient conditions of finite-time boundedness for the addressed system with

With the increasing requirement of Reynolds number simulation in wind tunnel tests, the cryogenic wind tunnel is considered as a feasible method to realize high Reynolds number. Characteristic model-based adaptive controller design method is introduced to flow field control problem of the cryogenic wind tunnel. A class of nonlinear multi-input multi-output (MIMO) system is given for theoretical research

During shield machine tunneling, the earth pressure in the sealed cabin must be kept balanced to ensure construction safety. As there is a strong nonlinear coupling relationship among the tunneling parameters, it is difficult to control the balance between the amount of soil entered and the amount discharged in the sealed cabin. So, the control effect of excavation face stability is poor. For this

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop

This article tackles the decentralized near-optimal control problem for the class of nonlinear polynomial interconnected system based on a shifted Legendre polynomials direct approach. The proposed method converts the interconnected optimal control problems into a nonlinear programming one with multiple constraints. In light of the formulated NLP optimization, state and control coefficients are used

The history of fractional calculus dates back to 1600s and it is almost as old as classical mathematics. Although many studies have been published on fractional-order control systems in recent years, there is still a lack of analytical solutions. The focus of this study is to obtain analytical solutions for fractional order transfer functions with a single fractional element and unity coefficient.

In this paper, an intelligence method based on single layer legendre neural network is proposed to solve fractional optimal control problems where the dynamic control system depends on Caputo fractional derivatives. First, with the help of an approximation, the Caputo derivative is replaced to integer order derivative. According to the Pontryagin minimum principle for optimal control problems and by

This paper investigates the cluster consensus of multi-agent systems (MASs) with general linear and nonlinear dynamics via intermittent adaptive pinning control, where each cluster has a virtual leader whose state can be sensed by only a small part of followers on some disconnected time intervals because of communication constraints. The communication topology is considered to be weakly connected,

A robust adaptive tracker is newly proposed for a class of nonlinear systems with input nonlinearities and uncertainties. Because the upper bounds of input nonlinearities and uncertainties are difficult to be acquired, the adaptive control integrated with sliding mode control (SMC) and radial basis function neural network (RBFNN) are utilized to cope with these undesired problems and effectively complete

Monitoring schemes are typically designed under the assumption of perfect measurements. However, in real-life applications, data tend to be subjected to measurement errors, that is, a difference between the real quantities and the measured ones mostly exist even with highly sophisticated advanced measuring instruments. Thus, in this paper, the negative effect of measurement errors on the performance

The stability of consensus in linear and nonlinear multi-agent systems with periodically switched communication topology is studied using Floquet theory. The proposed strategy is illustrated for the cases of consensus in linear single-integrator, higher-order integrator, and leader-follower consensus. In addition, the application of Floquet theory in analyzing special cases such as switched systems

Chaotic systems have wide applications in secure communication engineering and cryptography. In this paper, improved nonlinear predictive control with whale algorithm for anti-synchronization of a fractional-order economic hyper-chaotic system is used for increasing the security of wireless sensor networks and preventing intrusion. By chaotic masking method and the T-S fuzzy model, the message signal

As a fundamental subject, the state estimation of deterministic finite automata has received considerable attention. Especially, it is increasingly necessary to study various problems based on more complex systems. In this paper, the observability of three kinds of combining automata, structured in parallel, serial and feedback manners, are investigated based on an algebraic state space approach. Compared

Due to the serious drift phenomenon of underactuated air cushion vehicle, the actual trajectory is determined by the total speed and course angle. In this paper, the course angle and total speed model are derived from the general four degrees of freedom air cushion vehicle model and named nonlinear vector model. Nonlinear vector model can be used to directly design the course and total speed controllers

Multilevel inverters are a new generation of DC–AC converters at medium and high voltage and power levels. In this paper, a new single-phase cascaded multilevel inverter is presented. For this purpose, a new basic cell is presented at first. Then, the new multilevel inverter structure is yielded by series connection of these cells. The proposed new cell is only capable of generating positive voltage

This paper studies a high-accuracy motion control method named output feedback adaptive robust control for a dc motor with uncertain nonlinearities and parametric uncertainties, which always exist in physical servo systems and deteriorate their tracking performance. As only position signal is measurable, a uniform robust exact differentiator (URED) for the unmeasurable states and adaptive control for

This paper proposes a new model order reduction technology for the simplification of the complexity of large scale models. The proposed technique is focused on the Mihailov stability approach that guarantees the stability of the reduced model constrained that the complex system is stable. In this scheme, the denominator coefficients of the approximated simplified system are computed by using the Mihailov

The three-dimensional sliding mode guidance laws with prescribed performance and saturation actuator are proposed for maneuvering target. The proposed guidance laws can ensure the line of sight (LOS) angle converges according to the prescribed performance with actuator saturation and the convergence rate, the steady state error and the maximum overshoot can be preset in advance. A novel transformed

A new data-driven prognostic method based on an interacting multiple model particle filter (IMMPF) is proposed for use in the determination of the remaining useful life (RUL) of lithium-ion (Li-ion) batteries and the probability distribution function (PDF) of the uncertainty associated with the RUL. An IMMPF is applied to different state equations. The battery capacity degradation model is very important

This paper presents the design of a static output feedback controller for a class of switched nonlinear systems subject to time-varying delay and uncertainties under asynchronous switching. Based on the Lyapunov-Krasovskii approach and the average dwell time technique, sufficient conditions are derived in the form of linear matrix inequalities to design a static output feedback controller for robust

A quadrotor with tiltable rotors is a kind of omnidirectional multirotor aerial vehicle (MAV) that has demonstrated advantages of decoupling control of position from the control of orientation. However, quadrotors with tiltable rotors usually suffer from Coriolis term, modeling error and external disturbance. To this end, the extended state observer (ESO)-based controller is designed to estimate and

This paper proposes a robust second order sliding mode controller as maximum power point tracking (MPPT) technique in a photovoltaic (PV) boost dc-dc converter with applications to stand-alone systems. The proposed method is independent respect to load type, robust against parametric uncertainties and disturbances. By Lyapunov theorem the asymptotic stability of the closed loop control system is proven

In this paper, the problem of event-triggered robust model predictive control (MPC) was examined for a class of Lipchitz nonlinear networked control systems (NCS) with network-induced delays and subject to external disturbances. An event-triggering scheme for a continuous-time NCS was proposed, which reduced the communication traffic and computational burden of the MPC algorithm simultaneously. In

In this paper, a novel mobile agent-based distributed evidential expectation maximization (MADEEM) algorithm is presented for sensor networks. The proposed algorithm is used for probability density function estimation and data clustering in the presence of uncertainties in sensor measurements. It is assumed that the sensor measurements are statistically modeled by a common Gaussian mixture model. The

This paper deals with the robust stability analysis of a class of incommensurate fractional order quasi-polynomials with a general type of interval uncertainties. The concept of the general type of interval uncertainties means that all the coefficients and orders of the fractional order quasi-polynomials have interval uncertainties. Generally, the computational complexity of specifying the robust stability

Lithium-ion batteries have been widely used in electric vehicles, smart grids and many other applications as energy storage devices, for which the aging assessment is crucial to guarantee their safe and reliable operation. The battery capacity is a popular indicator for assessing the battery aging, however, its accurate estimation is challenging due to a range of time-varying situation-dependent internal

This paper proposes a mutual technique for solving the profit-based unit commitment (PBUC) problem in deregulated power system integrated with wind power. The proposed mutual approach is the joined execution of different solution techniques and known by the non-dominated sorting of moth fly optimization (MFO) with levy flight search (NSMFLF) technique. In the proposed approach, the levy flight search

In this paper, a new predictive control scheme formulated by using the Takagi-Sugeno fuzzy modeling method and a new constrained cuckoo search algorithm. The cuckoo search algorithm is used to determine the predictive controls by minimizing a constrained criterion. The Takagi-Sugeno fuzzy modelling approach is applied to forecast the states of the process. At the optimization stage, the proposed cuckoo

This paper investigates the fixed-time trajectory tracking control for a group of nonholonomic mobile robots, where the desired trajectory is generated by a virtual leader, the leader’s information is available to only a subset of the followers, and the followers are assumed to have only local interaction. According to fixed-time control theory and adding a power integrator technique, distributed fixed-time

During recent years, a lot of distributed control approaches based on static feedback controllers have been proposed to realize consensus of multi-agents systems with undirected topologies. However, many of these approaches have not been generalized to systems with directed topologies yet. Therefore, in this paper, for first- and second-order multi-agents systems with directed topologies, we propose

In this paper, a problem regarding how multiple mobile agents track a high-speed maneuvering target is considered. Due to the uncertainties of the target caused by the background noises, we use a dynamic non-uniform region to describe the location of target. Therefore, the cooperative tracking problem is transformed into a problem to cover a known dynamic non-uniform region. In order to capture the

This paper investigates the event-triggered H∞ control for networked control systems under the denial-of-service (DoS) attacks. First, a novel system model is established considering random, time-constraint DoS attacks. Second, an event-triggered scheme including an off-time is proposed to reduce the unnecessary occupation of network resources, with which a prescribed minimum inter-triggering time

This paper presents a new Lyapunov-based nonlinear adaptive observer and joint unscented Kalman filter to precisely estimate the states and the parameters for the low-order lumped model of the multi-phase flow at the gas refinery. The main focus of the study is to estimate the discharge coefficient of the orifice meter installed on the interconnection lines of the subsystems (parameters) and the total

This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the

Due to the intermittent nature of renewable sources, miss-matching between power generation and load power causes a deviation from the desired voltage and frequency in power supply. To solve this problem, a new control technique has been proposed for the power flow control with the unified power flow controller (UPFC) in grid-connected hybrid renewable energy systems such as photovoltaic-wind. The

This paper addresses the finite-time observer-based control for Markovian jump systems with time-varying generally uncertain transition rates. In order to estimate the states, a suitable observer is designed, in which both external disturbance and Brownian motion exist. In order to solve the complex time-varying transition rates, a quantization mechanism is raised to prove the closed-loop system and

Controlling an underactuated robot is always an important research and engineering issue, especially when the robot is suffering from multiple sources of uncertainties, such as unmodeled dynamics, external disturbance, and parameter uncertainties. To cope with these uncertainties in such uncertain nonlinear systems which is not fully-actuated, this paper proposes a control method that can actively