Buwei Dang, Huanming Chen^*, Heng Zhang, Jixian Wang, Jian Zhou

CMC-Computers, Materials & Continua, Vol.83, No.2, pp. 2003-2023, 2025, DOI:10.32604/cmc.2025.062653 - 16 April 2025

Abstract This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments. A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system. These trajectories are evaluated using non-cooperative game theory, considering the interaction between the target vehicle and its surroundings. Models considering safety payoffs, speed payoffs, comfort payoffs, and aggressiveness are formulated to obtain a Nash equilibrium solution. This way, collision avoidance is ensured, and an optimal lane change trajectory is planned. Three game scenarios are discussed, and the More >

Xiangyang Cao^1,2, Yaojie Zheng^1,2, Hanbin Xiao^1,2,*, Min Xiao^2,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.143, No.1, pp. 289-334, 2025, DOI:10.32604/cmes.2025.063954 - 11 April 2025

Abstract This study investigates the Maximum Power Point Tracking (MPPT) control method of offshore wind-photovoltaic hybrid power generation system with offshore crane-assisted. A new algorithm of Global Fast Integral Sliding Mode Control (GFISMC) is proposed based on the tip speed ratio method and sliding mode control. The algorithm uses fast integral sliding mode surface and fuzzy fast switching control items to ensure that the offshore wind power generation system can track the maximum power point quickly and with low jitter. An offshore wind power generation system model is presented to verify the algorithm effect. An offshore More >

Wenzhe Guo¹, Leian Zhang^1,*, Chao Lv², Weisheng Liu³, Jiabin Tian²

Energy Engineering, Vol.120, No.10, pp. 2307-2323, 2023, DOI:10.32604/ee.2023.030029 - 28 September 2023

Abstract Aiming at the drift problem that the tracking control of the actual load relative to the target load during the electromagnetic excitation biaxial fatigue test of wind turbine blades is easy to drift, a biaxial fatigue testing machine for electromagnetic excitation is designed, and the following strategy of the actual load and the target load is studied. A Fast Transversal Recursive Least Squares algorithm based on fuzzy logic (Fuzzy FTRLS) is proposed to develop a fatigue loading following dynamic strategy, which adjusts the forgetting factor in the algorithm through fuzzy logic to overcome the contradiction More >

Xudong Wang^1,2, Xueshuai Qin¹, Huiyan Zhang^2,*, Luis Ismael Minchala³

Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 385-400, 2023, DOI:10.32604/iasc.2023.036633 - 29 April 2023

Abstract Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments, such as low intelligence and poor comfort performance in the driving process. The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions. In this paper, in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier… More >

G. Pandiaraj^*, S. Muralidharan

Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463 - 17 August 2022

Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement.… More >

Mahdi Souzanchi-K¹, Mohammad-R Akbarzadeh-T^1,*, Nadia Naghavi¹, Ali Sharifnezhad², Vahab Khoshdel³

Intelligent Automation & Soft Computing, Vol.34, No.1, pp. 279-294, 2022, DOI:10.32604/iasc.2022.023717 - 15 April 2022

Abstract Sliding mode control is often used for systems with parametric uncertainties due to its desirable robustness and stability, but this approach carries undesirable chattering. Similarly, joint elasticity is a common phenomenon induced by transmission systems in robots, but it presents additional complexity in robot dynamics that could lead to robot vibrations or even instability. Coupling these two phenomena presents further compounded challenges, particularly when faced with the human interface's added uncertainties. Here, a stable voltage-based adaptive fuzzy strategy to sliding mode control is proposed for an elastic joint robot arm that uses a human's upper… More >

Ben Attia Selma^*, Ouerfelli Houssem Eddine, Salhi Salah

Intelligent Automation & Soft Computing, Vol.32, No.2, pp. 795-810, 2022, DOI:10.32604/iasc.2022.020435 - 17 November 2021

Abstract This study addressed sufficient conditions for the robust monotonic convergence of repetitive discrete-time linear parameter varying systems, with the parameter variation rate bound. The learning law under consideration is an anticipatory iterative learning control. Of particular interest in this study is that the iterations can eliminate the influence of disturbances. Based on a simple quadratic performance function, a sufficient condition for the proposed learning algorithm is presented in terms of linear matrix inequality (LMI) by imposing a polytopic structure on the Lyapunov matrix. The set of LMIs to be determined considers the bounds on the More >

G. Mousa¹, Amr Almaddah², Ayman A. Aly^3,*

CMC-Computers, Materials & Continua, Vol.66, No.2, pp. 2005-2023, 2021, DOI:10.32604/cmc.2020.012580 - 26 November 2020

Abstract About 10–20% of every country’s population is disable. There are at least 650 million people with a kind of disability worldwide. Assistance and support are perquisites for many handicap people for participating in society. Electric powered wheelchairs provide efficient mobility to motor impaired persons. In this paper a smart controller of a wheel chair mobile robot using Particle Swarm Optimization Proportional controller (PSO-P) was proposed where (PSO) algorithm was utilized to tune the proportional controller’s gains for each axis. Aiming to improve wheelchair tracking trajectory, a kinematic model of a robot with linear and angular velocities More >

Kai Liu^{1, 2}, Zheng Hou^{2, *}, Zhiyong She², Jian Guo²

CMES-Computer Modeling in Engineering & Sciences, Vol.122, No.1, pp. 131-148, 2020, DOI:10.32604/cmes.2020.08124 - 01 January 2020

Abstract This paper studies the reentry attitude tracking control problem for hypersonic vehicles (HSV) equipped with reaction control systems (RCS) and aerodynamic surfaces. The attitude dynamical model of the hypersonic vehicles is established, and the simplified longitudinal and lateral dynamic models are obtained, respectively. Then, the compound control allocation strategy is provided and the model predictive controller is designed for the pitch channel. Furthermore, considering the complicated jet interaction effect of HSV during RCS is working, an improved model predictive control approach is presented by introducing the online parameter estimation of the jet interaction coefficient for More >

Jiayu Lu¹, Siqin Chang^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.118, No.1, pp. 91-109, 2019, DOI:10.31614/cmes.2019.04190

Abstract In this paper, a trajectory planning-based energy-optimal method is proposed to reduce the energy consumption of novel electromagnetic valve train (EMVT). Firstly, an EMVT optimization model based on state equation was established. Then, the Gauss pseudospectral method (GPM) was used to plan energy-optimal trajectory. And a robust feedforward-feedback tracking controller based on inverse system method is proposed to track the energy-optimal trajectory. In order to verify the effectiveness of the energy-optimal trajectory, a test bench was established. Finally, co-simulations based on MATLAB Simulink and AVL Boost were carried out to illustrate the effect of energy-optimal More >