Integrated Control Strategy Research Articles

Adaptive integral‐type terminal sliding mode control: Application to trajectory tracking for mobile robot

SummaryThis paper presents an Adaptive Terminal Integral Sliding Mode Control (ATISMC) scheme for trajectory tracking problems applied to a differential Wheeled Mobile Robot (WMR). First, a terminal integral sliding variable is designed. Based on the finite‐time concept, an adaptive control law has been developed in which a switching gain is adjusted adaptively by using a novel strategy. This control method aims to deal with unknown bounded disturbances and uncertainties. Moreover, it allows fast convergence of the system states to an equilibrium point. The main features of the proposed ATISMC are its robustness, fast convergence rate, and chattering avoidance. To realize trajectory tracking for WMR, the ATISMC is incorporated into a double closed loop scheme. Stability analysis is performed using the Lyapunov stability theory. Numerical simulations and real‐time experiments demonstrate the feasibility of the proposed controller scheme. A comparison study with the classical ISMC was performed to show the superiority of the developed method.

Data-driven fractional order phase-lead and proportional–integral feedback control strategy with application to a reluctance-actuated compliant micropositioning system

This paper aims to overcome complex dynamic problems such as low damping resonant frequency, resonant point drift, and uncertainty of dynamic model of the large stroke micropositioning stage, based on Maxwell reluctance actuator. A composite control method of data-driven fractional phase-lead proportional-integral feedback controller with series hysteresis compensator is proposed. Firstly, the working principle of the Maxwell reluctance actuator is briefly explained, a large stroke flexure micropositioning system is built, and its motor constant and stiffness characteristics are experimentally measured. Secondly, aiming at the rapid phase drop caused by low damping resonance, a data-driven fractional order phase-lead and proportional-integral feedback controller is designed, and the parameters of the fractional order feedback controller are experimentally adjusted based on the iterative feedback tuning algorithm. And the intrinsic hysteresis nonlinearity of the reluctance actuator is firstly compensated by a Prandtl–Ishlinskii model hysteresis compensator which is always placed in the feedback loop of the control system. Then, the proposed controller is compared with other controllers. The experimental results show that this method has a significant suppression effect on high-frequency noise, and the tracking error is significantly reduced, which proves the effectiveness of this stage and control method. • Based on the Maxwell reluctance actuator, a large stroke flexure micropositioning system is built. • A fractional order phase-lead proportional integral controller is proposed, and the integer order approximation of the controller is completed by using oustaloup approximation method • The data-driven method of iterative feedback tuning is used to obtain the parameters of the fractional order controller. • Through the analysis and comparison of linearity, sensitivity function and open-loop frequency response, the advantages of the proposed controller are fully proved.

A review of the use of Duddingtonia flagrans as a biological controller of strongylid nematodes in horses.

In horses, the nematodes of the Strongylidae family are the most important due to their prevalence and pathogenicity. Sanitary plans include parasite control based on chemical anthelmintics. Among these, the benzimidazole compounds have been used since the 1960s to control the nematode Strongylus vulgaris. Its inappropriate use resulted in the development of resistance in parasites with a shorter biological cycle, such as the small strongyles. Currently, the genera that make up this group show widespread resistance to all chemical treatments available in veterinary medicine, except for macrocyclic lactones, where less effective action has been detected. The need to find alternative routes for its control is recognized. International organizations and markets are increasingly restrictive in the allowed levels of drugs in products of animal origin, so one of the drawbacks is the permanence of chemical compounds in tissues. Therefore, other tools not chemically based are proposed, such as the biological control of gastrointestinal nematodes. Various research groups around the world have carried out tests on the control capacity of the nematophagous fungus Duddingtonia flagrans against this group of parasites. The objective of this review is to compile the different tests that are available on biological control in this species, in in vivo and in vitro tests, and the possible incorporation of this tool as an alternative method of antiparasitic control in an integrated control scheme of parasites.

Red rust disease occurring in some fruits species in Cameroon

The knowledge of the red rust disease remains limited in Cameroon, with a view to developing a control method. This work consisted in studying red rust on some fruit species such as Annona muricata (soursop), Dacryodes edulis (safou), Psidium guajava (guava) and Theobroma cacao (cocoa).
 Diseased leaves were collected in the field in the Maham site, in west region of Cameroon.The symptomatology of disease (colour, number and diameter of lesions) was studied. Coefficient of variation ( %) was calculated. The incidence and severity of the disease was assessed in the different orchards surveyed. The measurement of the different structures of the thallus (length, width of sporangia and sporangiophores) was carried out using a microscope with a micrometer.
 The disease is characterized by circular orange to orange-brown spots on the upper surfaces and rarely on the lower surface. Number of lesions, varied from 245–510 respectively with D. edulis and T cacao. Lesion diameters varied from 0.1−1 cm, 0.1−7 cm, 0.1−1.5 cm in safou (African pear), guava and soursop respectively. The length and width of sporangiophores varied from 280.5−714×10.2−25.5 µm for A. muricata, 408−612×15.3−25.5 µm for Dacryodes edulis, 433.3−663×15.3−20.4 µm for P. guajava and 484.5−612×20.4−35.7 µm for T. cacao. The number of sporangiophores varied from 1 to 11 at the maximum threshold. But, number of sporangia was the same in the four species, 1−9. The pathogenicity test was negative.
 The data measurements show that the specie observed is Cephaleurus virescens which is a parasitic alga.
 The data obtained are a basis for the development of an integrated control strategy against this emerging disease

Assessing the burden of Taenia solium cysticercosis in Burundi, 2020

BackgroundTaenia solium cysticercosis is a zoonotic disease that is endemic in many low- and middle-income countries where risk factors for disease transmission are present. The economic impact of cysticercosis on public health and on the pig production sector is not well known in many of those countries, including Burundi. This study aimed at estimating the burden of T. solium cysticercosis in Burundi including data on humans and pigs.MethodsEpidemiological and economic data were collected from literature up to July 30, 2021 and governmental and non-governmental agencies. Direct and indirect costs for neurocysticercosis (NCC)-associated epilepsy and losses due to porcine cysticercosis were estimated to assess the economic burden, while the health burden was estimated using zoonotic disability-adjusted life years (zDALYs). Different probability distributions (Uniform, Beta, Dirichlet and Gamma) were applied depending on the type of epidemiological parameter. Monte Carlo simulations and 100,000 iterations were used to calculate the 95% uncertainty interval (UI) for each parameter and perform sensitivity analyses.ResultsIn Burundi, 4.26 million USD (95% UI, 1,858,308–8,190,951) were estimated as economic impact due to T. solium cysticercosis in humans and pigs, of which 40.2% (95% UI, 10.3–75.1) of the total costs were due to NCC-associated epilepsy and 59.8% (95% UI, 24.9–89.7) of the losses due to porcine cysticercosis. The cost per NCC-associated epilepsy case was 72 USD (95% UI, 25–168), representing 30.8% of the GDP per capita in 2020. The probable incident cases and deaths for NCC-associated epilepsy were 9065 (95% UI, 2370–16,716) and 61 (95% UI, 16–114), respectively. More than 2 zDALYs (95% UI, 1.1–3.4) per thousand person-years was estimated, of which an average of 1.3 DALYs [0;0] (95% UI, 0.3–2.6) was due to NCC- associated epilepsy and 0.8 animal loss equivalents (ALEs) (95% UI, 0.3–1.5) due to porcine cysticercosis.ConclusionsThis study provides evidence of a significant burden of T. solium cysticercosis for Burundi’s population. We urge policy makers to use these evidence-based results and put T. solium cysticercosis on the public health agenda of the country. This study recommends urgent action to find solutions for integrated control strategies for T. solium cysticercosis in Burundi.

Neural-Network-Based Nonlinear Model Predictive Control of Multiscale Crystallization Process

The purpose of this study was to develop an integrated control strategy for multiscale crystallization processes. An image analysis method using a deep learning neural network is used to measure the fine-scale information of the crystallization process, and the mathematical statistical method is adopted to obtain the mean size of the crystal population. A feedforward neural network is subsequently trained and employed in a nonlinear model predictive control formulation to obtain the optimal profile of the manipulated variable. The effectiveness of the proposed nonlinear model predictive control method is evaluated using alum cooling crystallization experiments. Experimental results demonstrate benefits of the proposed combination of feedforward neural network and nonlinear model predictive control method for the multiscale crystallization process.

Command filter-based adaptive fuzzy integral backstepping control for quadrotor UAV with input saturation

This paper presents an adaptive fuzzy integral backstepping control strategy combined with command filter to solve trajectory tracking problem of quadrotor unmanned aerial vehicle (UAV). By using Fuzzy logic system to approximate uncertain disturbance. The tracking error integral term is introduced to reduce the steady-state tracking error. The backstepping approach is combined with the command filter to solve the “computational explosion” problem, and the error compensation mechanism is introduced to reduce the influence of filtering error. The hyperbolic tangent function is used to solve the problem of input saturation. By choosing the appropriate Lyapunov function to calculate the adaptive law for tuning the adjustable parameters of the fuzzy logic system. Morever, the stability of the controller is analyzed by using Lyapunov stability theory. Numerical simulation results are provided to illustrate the effectiveness and superiority of the proposed control method.

Epidemiology, prevention and control of gastrointestinal helminths of small ruminants in the Caribbean region-a scoping review.

This review gathered information from peer-reviewed publications on the epidemiology, prevention and control of gastrointestinal helminths (GIHs) parasites of small ruminants in the Caribbean region from 1990 to 2021. Literature search was performed on four electronic databases using a combination of search terms and Boolean operators. Results showed that gastrointestinal nematodes (GINs) were the most common parasites, with seven genera documented across six reviewed countries. Haemonchus contortus was the most common species occurring in all six countries, and predominant in occasions where mixed infections were observed. Moniezia species were the only Platyhelminth species documented in Trinidad and Grenada. The overall prevalence of GIH infections was observed to be high in goats than in sheep. A high level of anthelminthic resistance (AR) with H. contortus was reported, whilst other nematodes showed to be effectively controlled by one or more anthelmintic drugs. FAMACHA© method was applied in the identification of anaemic animals for selective treatment, hence contributing to the decreased use of anthelmintic drugs. There is a need for national surveys of GIHs and AR in small ruminants in the Caribbean countries. Surveys, coupled with the use of molecular techniques to detect and identify species of GIHs present in the Caribbean region, as well as their epidemiology which will inform development of integrated control strategies is recommended. There is also a need to create awareness to small ruminant farmers in the region on the prevailing challenge of AR and limit wanton use of anthelminthics to reduce or prevent AR in small ruminants.

Research on Integrated Control Strategy of Reactive Power and Voltage for Distributed Generation

The access of distributed photovoltaic power sources will change the power flow distribution in the distribution network. When the line load is light and the photovoltaic access capacity is large, the distribution network will become a multi-source network, which will cause the reverse flow of the line, increase the line voltage, and affect the power quality of the distribution network. Aiming at this problem, this paper studies the voltage control strategy after photovoltaic grid-connected, and proposes a four-level reactive voltage control strategy to solve the voltage problem when photovoltaic large-scale grid-connected. Finally, the method is verified by an example.

WITHDRAWN: Auction, Learning and Bargaining based Control Scheme for Edge assisted Metaverse System

Edge computing (EC) has emerged as a cost-effective platform to enhance the computing capability of hardware-constrained IoT devices. Recently, EC-assisted Metaverse system is regarded as the next-generation Internet paradigm that allows humans to play, work, and socialize in an alternative virtual world. With the help of ubiquitous wireless connections and powerful EC technologies, the Metaverse system effectively manages the interactions among system agents. In this study, we present a new intelligent Metaverse control scheme, which adopts three control approaches. First, McAfee double auction is applied to handle the collected data trading between service providers and IoT devices. Second, Q-learning algorithm is adopted to decide the power level of each IoT device. Third, the status quo proportional bargaining solution is used to provide a proper resource allocation problem for the devices’ wireless communications. Based on the reciprocal combination of auction, learning and bargaining algorithms, we explore the sequential interaction of system agents, and jointly design an integrated control scheme to strike an appropriate Metaverse performance balance. According to the synergy effect, our hybrid protocol is a novel method in the EC-assisted Metaverse infrastructure. Finally, extensive simulations demonstrate that our approach can lead to achieve a mutually desirable solution with a good balance between efficiency and fairness comparing with the currently published Metaverse system control schemes.

Control of negative imaginary systems exploiting a dissipative characterization

This paper utilizes a dissipative framework to construct a set of stabilizing controllers in positive feedback for LTI negative imaginary (NI) systems with no pole at origin. The technique relies on identifying a dissipative characterization of such NI systems. Contrary to the existing literature, the set of controllers presented in this paper may not belong to the NI systems class and can be designed having only a rough estimate of the DC gain of the plant. Apart from extending the class of stabilizing controllers beyond the NI family, the proposed framework also generalizes a few existing NI domain results. It is shown that the integral resonant control (IRC) scheme in MIMO setting can be captured as a special case of the developed result. Integral controllability of a class of NI systems having negative definite DC gain directly follows from the proposed stability result of this paper. Further generalization in terms of the set of integral gain matrix is also demonstrated. Effectiveness of the proposed results are illustrated through numerical examples.

Efficacy of native cyclopoid copepods in biological vector control with regard to their predatory behavior against the Asian tiger mosquito, Aedes albopictus

BackgroundThe control of the Asian tiger mosquito Aedes albopictus (Diptera: Culicidae) is crucial owing to its high vector competence for more than 20 arboviruses—the most important being dengue, chikungunya and Zika virus. Aedes albopictus has an enormous adaptive potential, and its invasive spreading across urban and suburban environments poses challenges for its control. Therefore, all suitable, cost-effective and eco-friendly control tools should be put into practice. In this context, cyclopoid copepods are already known as effective predators of mosquito larvae. This study reports an essential preliminary step towards the integration of copepods into the vector control strategy in Germany, in order to provide a sustainable tool in an integrated control strategy based on the elimination or sanitation of breeding sites, the use of formulations based on Bacillus thuringiensis israelensis (Bti.) and the sterile insect technique (SIT).MethodsThe predatory potential of native cyclopoid copepods, namely the field-derived species Megacyclops viridis (Crustacea: Cyclopidae), was examined against the larvae of Ae. albopictus, and for comparison, against the larvae of the common house mosquito, Culex pipiens sensu lato (Diptera: Culicidae). The use of different larval instars as prey, and various predator-to-prey ratios, were examined under laboratory and semi-field conditions. The compatibility of Bti. applications along with the use of copepods was assessed in the laboratory.ResultsHigh predation efficiency of M. viridis upon first-instar larvae of Ae. albopictus was observed under laboratory (up to 96%) and semi-field conditions (65.7%). The copepods did not prey upon stages further developed than the first instars, and in comparison with Ae. albopictus, the predation rates on the larvae of Cx. pipiens s.l. were significantly lower.ConclusionsThe results indicate a high predation potential of M. viridis against Ae. albopictus larvae, even though strong larval stage and mosquito species preferences were implicated. The integration of copepods as a promising biocontrol agent to the vector control strategy in Germany is therefore highly recommended, especially because of the excellent compatibility of copepods with the use of Bti. However, further research is required, concerning all the probable parameters that may impact the copepod performance under natural conditions.Graphical

Integrated Control Scheme for an Improved Disturbance-Free Payload Spacecraft

For a novel disturbance-free payload (DFP) spacecraft, it is difficult to isolate the low-frequency disturbances owing to the umbilical cables, which decreases the pointing accuracy and stability of the payload. In this research, an improved DFP spacecraft and its integrated control scheme are designed to enhance the pointing accuracy and disturbance attenuation performance. The improved DFP spacecraft consists of a Payload Module (PM), a Support Module (SM), and a Test Mass (TM). The integrated control system is subdivided into three interconnected control loops. An active vibration isolation control loop is used to isolate the PM from disturbances in the high-frequency bands and control the PM to track the attitude of the SM. A drag-free control loop is used to isolate the SM from disturbances in the low-frequency bands and control the SM to track the attitude of the TM. An attitude-pointing control loop is used to control the TM to track the desired attitude. Based on the improved DFP spacecraft and the integrated control system, the payload mounted on the PM can be isolated from disturbances in all of the frequency bands, and its high-level requirements for pointing accuracy and stability can be realized.

Effects of global warming on insect behaviour in agriculture

Global warming and climate change are some of the most widely discussed topics in today's society, and they are of considerable importance to agriculture globally. Climate change directly affects agricultural production. On the other hand, the agricultural sector is inherently sensitive to climate conditions, and this has made the agricultural sector one of the most vulnerable sectors to the effects of global climate change. Rising CO2 levels in the atmosphere, increased temperature, and altering precipitation patterns all substantially influence agricultural insect pests and agricultural productivity. Climate change has a number of implications for insect pests. They can lead to a decreased biological control effectiveness, particularly natural enemies, increased incidence of insect-transmitted plant diseases, increased risk of migratory pest invasion, altered interspecific interaction, altered synchrony between plants and pests, increase in the number of generations, increased overwintering survival, and increase in geographic distribution. As a consequence, agricultural economic losses are a real possibility, as is a threat to human food and nutrition security. Global warming will necessitate sustainable management techniques to cope with the altering state of pests, as it is a primary driver of pest population dynamics. Future studies on the impacts of climate change on agricultural insect pests might be prioritized in several ways. Enhanced integrated pest control strategies, the use of modelling prediction tools, and climate and pest population monitoring are only a few examples.

Integrated Control for Path Tracking and Stability Based on the Model Predictive Control for Four-Wheel Independently Driven Electric Vehicles

Four-wheel independently driven electric vehicles are prone to rollover when driving at high speeds on high-adhesion roads and to sideslip on low-adhesion roads, increasing the risks associated with such vehicles. To solve this problem, this study proposes a path tracking and stability-integrated controller based on a model predictive control algorithm. First, a vehicle planar dynamics model and a roll dynamics model are established, and the lateral velocity, yaw rate, roll angle, and roll angle velocity of the vehicle are estimated based on an unscented Kalman filter. The lateral stiffness of the tires is estimated online according to the real-time feedback state of the vehicle. Then, the path tracking controller, roll stability controller, and lateral stability controller are designed. An integrated control strategy is designed for the path tracking and stability, and the conditions and coordination strategies for the vehicle roll and lateral stability state in the path tracking are studied. The simulation results show that the proposed algorithm can effectively limit the lateral load transfer rate on high-adhesion roads and the sideslip angle on low-adhesion roads at high speeds. Hence, the driving stability of the vehicle under different road adhesion coefficients can be ensured and the path tracking performance can be improved.

Anti-Disturbance Integrated Position Synchronous Control of a Dual Permanent Magnet Synchronous Motor System

In order to solve the problem that the position synchronous performance of dual permanent magnet synchronous motor servo system is easily affected by parameter perturbation and load disturbance, an anti-disturbance integrated position synchronous control strategy of dual permanent magnet synchronous motor system is proposed. Firstly, the integral mathematical model of a dual permanent magnet synchronous motor system is established. After that, the third-order linear extended state observer is constructed to observe and compensate for disturbance in order to improve the anti-disturbance performance of the position loop. At the same time, a cross-coupled position synchronous compensator is added to improve the synchronous performance of the system, and through the Bode diagram analysis method in the frequency domain, the system stability and anti-disturbance performance are researched. Finally, the effectiveness of the proposed algorithm is verified by experimental research.

Geometric Integral Attitude Control on SO(3)

This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4’s original attitude controller.

Model Predictive Control-Based Attitude Control of Under-Actuated Spacecraft Using Solar Radiation Pressure

An attitude control strategy for an under-actuated spacecraft with two reaction wheels is proposed, using the active assistance of solar radiation pressure torque. By changing the rotation angles of the solar panels, the magnitude and direction of the solar radiation pressure torque is assumed to be adjustable in this paper. The attitude dynamic model of a rigid spacecraft with two reaction wheels and two solar panels is established and transformed into the form of a non-linear system. An integrated control scheme based on dual-mode model predictive control is proposed, which obtains the rotation speeds of the solar panels and the rotation accelerations of the reaction wheels directly as control quantities. Using this control method, not only are the constraints of rotation speeds and rotation angles of the panels satisfied, but also the robustness of the closed-loop system is ensured. The simulation results prove the validity of the proposed control method.

Adaptive SMC based cascaded control of the grid-forming inverter

ABSTRACT The grid-forming inverter (GFI) plays an indispensable role in the microgrid (MG). Thus, it is critical for a microgrid to control the GFI flexibly and accurately, because of its voltage-forming and frequency regulation capabilities. The conventional proportional integral (PI) control strategy is usually used to control the GFI. However, the conventional PI control strategy has a high output voltage total harmonic distortion (THD) and deteriorative performance under external disturbances, which results in several problems in system flexibility, reliability and stability. This paper proposed a novel adaptive sliding mode control (ASMC) based cascaded control of the GFI system, which involves an ASMC-based inner current loop and outer voltage loop, and shows some superior performances of low THD, fast dynamic tracking performance and good robustness. Both the MATLAB/SIMULINK-based simulation and StarSim Modelling Tech-based semi-physical experimental results were presented to validate a perspective: the control strategy proposed by this paper has a better performance than the conventional PI control strategy under transient and steady-state condition.

An optimal control problem for dengue transmission model with Wolbachia and vaccination

The release of Wolbachia-infected mosquitoes into the wild mosquitoes population is an excellent biological control strategy which can be effective against mosquito-borne infections. In this work, we propose a dengue transmission model that incorporates releasing Wolbachia into the wild mosquito population and vaccinating human population. We analyze the basic reproduction number, the existence and stability of the equilibria, and carry out the sensitivity analysis to quantify the effects of parameters on the basic reproduction number. The analysis shows that the basic reproduction number determines the stability of two equilibria, and two transmission probabilities are positively correlated with the basic reproduction number, especially, the transmission probability of human being infected byWolbachia-infected mosquitoes is more sensitive than that of wild mosquitoes. Based on an integrated control strategy for the prevention of dengue fever (vaccination, using mosquito nets, improved treatment of dengue and spraying insecticides), we derive the necessary conditions for the optimal control problem using Pontryagin’s Maximum Principle and carry out numerical simulations by MATLAB. Finally, the cost-effectiveness analysis of several control strategies is examined to determine the most feasible strategy. It shows that the most cost-effective integrated strategy is vaccination, using mosquito nets and spraying insecticides.