Combinatorial optimization has been used in different research areas. It has been employed successfully in software testing fields to construct minimum set of combinations (i.e., in terms of size) which in turn represents the minimum number of test cases. It was also found to be a successful approach that can be applied to solve other similar problems in different fields of research. In line with this approach, this paper presents a new application of the combinational optimization in the design of PID controller for DC servomotor. The design of PID controller involves the determination of three parameters. To find optimal initial PID parameters, different tuning methods have been proposed and designed in the literature. The combinatorial design is concerned with the arrangement of finite set of elements into combinatorial set that satisfies some given constraints. Consequently, the proposed method takes the interaction of the input parameters as a constraint for constructing this combinatorial set. The generated sets are then used in the proposed tuning method. The method proved its effectiveness within a set of experiments in a simulated environment.

Mouayad A. Sahib

Bestoun S. Ahmed

Moayad Y. Potrus

Application of Combinatorial Interaction Design for DC Servomotor PID Controller Tuning

A pinning stabilization problem of complex networks with time-delay coupling is studied under stochastic noisy circumstances in this paper. Only one controller is used to stabilize the network to the equilibrium point when the network is connected and the minimal number of controllers is used when the network is unconnected, where the structure of complex network is fully used. Some criteria are achieved to control the complex network under stochastic noise in the form of linear matrix inequalities. Several examples are given to show the validity of the proposed control criteria.

Chun-Xia Fan

Yu Gu

Qingyang Wei

Pinning Stabilization of Complex Networks Coupled with Time Delay and Disturbed with Stochastic Noise

An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and <svg     style="vertical-align:-3.3907pt;width:27.7875px;" id="M1" height="15.4" version="1.1" viewBox="0 0 27.7875 15.4" width="27.7875"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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</svg> optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and <svg     style="vertical-align:-3.3907pt;width:27.7875px;" id="M2" height="15.4" version="1.1" viewBox="0 0 27.7875 15.4" width="27.7875"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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</svg> approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.

Jinzhu Peng

Yan Liu

Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances

This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the &#x201C;lowest point fixed angle error&#x201D; leveling scheme called &#x201C;chase&#x201D; is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.

Zhi-Lin Zeng

Guo-Hua Xu

Yin Zhao

Fei Xie

Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

Reinforcement learning algorithm for multirobot will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential <i>Q</i>-learning based on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in the database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be appended to the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multirobot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.

Yong Song

Yibin Li

Xiaoli Wang

Xin Ma

Jiuhong Ruan

An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots

The problem of stability analysis for a class of networked control systems (NCSs) with network-induced delay and packet dropout is investigated in this paper. Based on the working mechanism of zero-order holder, the closed-loop NCS is modeled as a continuous-time linear system with input delay. By introducing a novel Lyapunov-Krasovskii functional which splits both the lower and upper bounds of the delay into two subintervals, respectively, and utilizes reciprocally convex combination technique, a new stability criterion is derived in terms of linear matrix inequalities. Compared with previous results in the literature, the obtained stability criterion is less conservative. Numerical examples demonstrate the validity and feasibility of the proposed method.

Shenping Xiao

Liyan Wang

Hongbing Zeng

Wubin Cheng

Improved Robust Stability Criterion of Networked Control Systems with Transmission Delays and Packet Loss

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<p><em>Journal of Control Science and Engineering </em>publishes research investigating the design, simulation and modelling, implementation, and analysis of methods and technologies for control systems and applications.</p>


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<p>Chief Editor, Professor Seiichiro Katsura, is based at Keio University, Japan. His laboratory is developing a novel synthesis method based on the infinite-order modeling and energy conversion of electromechanical integration systems.</p>


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Journal of Control Science and Engineering - Table of contents 2014

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Journal of Control Science and Engineering publishes research investigating the design, simulation and modelling, implementation, and analysis of methods and technologies for control systems and applications.

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Journal of Control Science and Engineering

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Journal of Control Science and Engineering