Journal of Measurement, Control, and Automation

Robust trajectory-tracking for nonholonomic wheel mobile robots using a PSO-tuned control approach

2025-10-21T06:24:15+07:00

This paper addresses the trajectory-tracking problem for nonholonomic wheeled mobile robots subjected to model uncertainties and unknown
external disturbances. In contrast to existing approaches that concentrate primarily on the kinematic control loop, this paper adopts a
hierarchical control structure for the wheel mobile robot, including an outer kinematic loop and an inner dynamic loop. For the dynamic control
loop, a dynamic controller combining integral terminal sliding mode control and a disturbance observer is developed to achieve disturbance
rejection and chattering reduction. For the kinematic control loop, the kinematic controller is designed for accurate trajectory tracking control.
Based on the Lyapunov stability theory, the stability analysis is given for both the disturbance observer and the double-loop tracking controller.
Furthermore, the Particle Swarm Optimization algorithm is employed to optimize the control gains, thereby enhancing the overall performance
of the control system. The simulation result using MATLAB software is conducted to confirm the effectiveness of the proposed method

Computation of electrodynamic forces acting on clamping beams of windings in power transformers

2025-10-21T06:38:03+07:00

In response to the growing demand for electrical load driven by socio-economic development, the national transmission grid is being gradually
upgraded. In this context, conventional power transformers with capacities of 3x150 MVA-500kV and 3x200 MVA-500kV are increasingly
being replaced by higher-capacity units, most notably the 3×300 MVA transformers. To meet this trend and reduce dependence on imported
equipment, the research, design, and manufacturing of power transformer with 3x300 MVA-500kV present a significant technological
challenge for the domestic industry and remain a current topic of interest among both national and international researchers. During operation,
short-circuit events subject the windings to extremely high electrodynamic forces, posing a risk of severe deformation or insulation failure if
not properly designed. In the winding structures, the clamping beam plays a critical role in directly withstanding these forces, preserving the
mechanical integrity of the winding, and maintaining insulation stability throughout operation. This paper develops an analytical approach
combined with the finite element method (FEM) to compute, analyze and simulate the electrodynamic forces and deformation acting on the
clamping beam in supper-high voltage transformers with power ratings up to 300 MVA-500kV under various operating conditions. Accurate
assessment of the mechanical behavior during short-circuit events is essential to ensure the structural integrity and safe operation of the
equipment.

Optimizing neural networks for pneumatic muscle actuator system identification: a cooperative coevolutionary approach

2025-10-21T06:49:39+07:00

This paper presents a cooperative coevolutionary optimization algorithm to overcome issues in gradient descent-based neural network, such
as getting stuck in local minimum and slow convergence. The proposed method combines JAYA and a modified differential evolution (DE)
techniques to optimize neural network weights. It works by splitting the population into two subpopulations, each focusing on optimizing
different aspects of the network weights. The method's effectiveness is tested on two benchmark nonlinear dynamical systems and compared
with existing methods. Results show that the neural network optimized by this approach achieves high accuracy and robustness. Finally, the
practical applicability of this method is demonstrated by modeling the pneumatic muscle actuator (PMA) system using experimental data,
where the PMA system is made up of Festo's MAS-10 N220 pneumatic artificial muscles and controlled with a DAQ NI 6221 card.

The altitude, position PID controllers design for UAV quadcopter: from theory to experiment

2025-10-21T06:54:43+07:00

Unmanned aerial vehicles (UAV), of which the four-rotor type, called UAV quadcopter, is increasingly applied in many aspects of socioeconomic life, especially in difficult tasks that humans can hardly perform. UAV quadcopter is a complex multivariate nonlinear object,
always affected by air turbulence and wind. This paper presents the process of designing, simulating and testing the position and altitude
controller for quadcopter UAV when considering external disturbances, based on the application of PID control law according to the CohenCoon method. Simulation results on Matlab show that the PID control system using the Cohen-Coon method gives good UAV trajectory
control quality with very small position-height error, <1%, has better response time to object delay, and is more stable with small load
disturbance, compared to the Ziegler-Nichols method. Then, the author conducts testing of the Cohen-Coon PID controller on the F450
quadcopter UAV hardware. The experimental results show that the proposed PID controller ensures accurate control of position, altitude,
trajectory tracking and maintains stable flight balance in external disturbance conditions with light winds.

Design of a single-stage converter for wireless charging systems in automated guided vehicles

2025-10-21T07:12:05+07:00

Currently, wireless charging systems are widely used in various fields. In wireless charging systems for automated guided vehicles, traditional
multi-stage structures fail to achieve high efficiency and require significant investment costs. Moreover, these multi-stage structures demand
separate and complex control. This paper proposes a single-stage converter based on a totem-pole structure and a phase-shift control method to
regulate constant current charging in wireless charging systems for automated guided vehicles. The proposed converter has a simple structure.
It eliminates the need for a large-capacitance Clink, achieves soft switching for the semiconductor switches, ensures a high input power factor,
and maintains a low total harmonic distortion. Additionally, a dual-side LCC compensation circuit is designed to maximize transfer efficiency.
The results show that the overall system efficiency from the grid input to the load exceeds 93,92%, with a high input power factor ranging from
0,960 to 0,989, and a low input THD of less than 1,84% across the entire operating range.

Design of a service robot for restaurant applications using Lidar-Based SLAM localization

2025-10-21T07:22:15+07:00

In this study, we propose the design of a table-running robot intended for deployment in restaurant envi-ronments, aiming to automate food
service operations while enhancing safety and accuracy. The proposed robot employs a multi-sensor fusion localization method, integrating
data from a LIDAR sensor, wheel en-coders, an accelerometer, and a gyroscope. Unlike systems that rely on magnetic tape for navigation,
our approach utilizes a SLAM (Simultaneous Localization and Mapping) algorithm to process sensor data and construct a dynamic map of
the environment. This enables the robot to navigate flexibly and reroute in re-sponse to moving obstacles. Additionally, we introduce a
localization method using V-L markers, allowing the robot to autonomously locate and dock with its charging station when battery levels
are low. Experi-mental results confirm the robot's accurate and reliable performance in real-world conditions.

Chaos detection and control for permanent magnet synchronous motor

2025-10-21T07:27:24+07:00

Permanent magnet synchronous motor (PMSM) can exhibit chaotic behavior when certain parameters reach critical values. This chaos can
significantly impair the performance of the PMSM and potentially jeopardize the safe operation of the power system if not addressed
promptly. Since system parameters can change during operation, the PMSM can enter a chaotic state at any moment. Therefore, the first step
is determining whether the system is experiencing chaos, followed by implementing control measures to eliminate this chaotic behavior. This
paper proposes an online observer designed to detect chaotic behavior as soon as it occurs in the PMSM. Additionally, a chaotic controller
based on state feedback is developed to counteract the chaotic behavior. Through mathematical analysis and simulation results, the paper
demonstrates that the observer can successfully identify chaos, triggering the chaos controller automatically when such behavior is detected.
This process helps stabilize the system quickly.

A quadratic DC-DC boost converter with capacitor voltage rating reduction

2025-10-21T07:32:52+07:00

This paper presents a quadratic DC-DC boost converter topology featuring high voltage gain, common-ground (CG) characteristic, and simplified control with a single active power semiconductor switch. Steady-state analysis and small signal analysis are conducted to model and
determine the transfer function of the proposed DC-DC converter. Based on transfer function, the parameters of controllers are determined.
The configuration is controlled by two proportional-integral (PI) controllers. The proposed converter are controlled by two closed-loop controllers with feedback references of output voltage and input inductor current. Simulation results are carried out using PSIM software and a
200W experimental prototype with a resistive load to verify the accuracy of the proposed control method.

FEM-based modeling and control of 6-phase IPMSM for electric vehicles using JMAG and Matlab Simulink

2025-10-21T07:39:42+07:00

Research on the modelling and control of an asymmetric six-phase interior permanent magnet synchronous machine (IPMSM) is essential
for advancing electric vehicles and high-performance drive systems. This paper presents a modelling and simulation approach for a 100 kW
6-phase IPMSM designed for electric vehicle applications, combining dual dq-axis vector control theory with the Finite Element Method
(FEM) using JMAG-Designer to evaluate electromagnetic properties and efficiency. The dual dq model is utilised to analyse flux linkages,
inductances, and torque, while FEM addresses nonlinearities, magnetic saturation, harmonics, and asymmetry. The FEM results are integrated
into MATLAB/Simulink for validation, enhancing accuracy and ensuring suitability for designing six-phase IPMSMs in electric vehicles,
robotics, and intelligent drive systems.

Combination of sliding mode control and non-voltage measurement NLM modulation for modular multilevel converter

2025-10-21T07:46:56+07:00

Modular Multilevel Converter (MMC) is an optimal solution for the advanced power conversion for Medium Voltage (MV) and High Voltage
(HV) applications. This paper proposes an enhanced sensorless Nearest Level Modulation (NLM) with a Sliding Mode Controller (SMC)
scheme with Integral Sliding Surface for the grid-connected case of the MMC where it stands as a DC/AC inverter. The proposed SMC
when applied to MMC shows some outstanding advantages such as fast response, good robustness, and stability under transient conditions.
Additionally, the sensorless NLM is proven to be efficient in terms of capacitor voltage balancing while maintaining output voltages tracking
the reference voltages fed by the SMC. The simulation results on MATLAB/SIMULINK for the MMC under varying active and reactive power
are conducted so as to confirm the correctness and efficiency of the proposed method.