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International Journal of Systems, Control and Communications

 

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International Journal of Systems, Control and Communications (14 papers in press)

 

Regular Issues

 

  •   Free full-text access Open AccessAutonomous Leader-Follower Formation Control of Nonholonomic Wheeled Mobile Robots by Incremental Path Planning and Sliding Mode Augmented Tracking Control.
    ( Free Full-text Access ) CC-BY-NC-ND
    by Kishorekumar Kowdiki, Ranjit Kumar Barai, Samar Bhattacharyya 
    Abstract: This paper presents a novel robust and autonomous formation control scheme for wheeled mobile robots in the Leader-Follower formation control framework considering their nonholonomic constraints. In the proposed formation control scheme, the leader robot of the group plans its path of navigation autonomously in a cluttered environment by employing incremental path planning by modified artificial potential field. Then, the follower robots in the group plan their path in order to follow the leader robot by maintaining a particular formation using the separation-bearing control. Then the formation control problem has been transformed into a trajectory tracking control problem. The kinematic control component of the tracking controller provides the necessary velocity input for eliminating the nonholonomic constraints, whereas, the sliding mode augmented robust trajectory tracking control component minimizes the effects of nonlinearities, model uncertainties, parameter variations, and disturbances. The effectiveness of the proposed control law has been established by simulation studies.
    Keywords: artificial potential field; autonomous navigation; formation control; leader-follower; trajectory tracking; kinematic control; sliding mode control.

  • Frequency Control of an Isolated Power System Considering Mutual Effects of AGC in Presence of Energy Storage Units   Order a copy of this article
    by MOUNICA MALLAREDDY 
    Abstract: Automatic Generation Control (AGC) of an isolated power system is investigated in this paper. Performance analysis is carried out by considering the mutual coupling effect between Load frequency control (LFC) and automatic voltage regulator (AVR) control loops by adding one fixed and one variable energy storage systems. The insertion of storage devices reduces the frequency oscillations for various load changes and also reduces the mutual effect of LFC and AVR. Simultaneous coordinated tuning of secondary controller and variable storage unit with Particle swarm optimization (PSO) and improved particle swarm optimization (IPSO) is carried out to provide control strategy for the system. System is simulated both in presence and absence of secondary controller in which IPSO gives better performance results than PSO. The simulation is carried out in MATLAB/SIMULINK software.
    Keywords: Load frequency control; Automatic voltage regulation; Mutual coupling of LFC and AVR; Energy storage systems; Power compensation by ESS.

  • A new PIDF Controller Structure for Delayed Process   Order a copy of this article
    by Bharat Verma, Prabin Padhy 
    Abstract: A new PID control structure (PIDF) for delayed processes is proposed in this paper. It consists of a derivative controller (D) in feedback with a standard Proportional-Integral (PI) controller. The proposed PIDF controller improves the robustness with respect to time delay and de-noising capability. The proposed controller is similar to a PI controller with a low pass filter in series, which minimises the effect of high-frequency measurement noise. The robustness of the proposed PIDF controller, with respect to the process-delay variation, is verified through simulation of four different processes and results are compared with standard PID controller. The parameters of PID and PIDF controller are tuned by minimising the ITSE objective function with the help of Genetic algorithm.
    Keywords: Robust Control; Linear Control; Dominant pole; PID controller; PIDF controller; Delayed process.

  • Fault-tolerant multi-agent scheme for leader/follower formation control of homogeneous mobile robot team   Order a copy of this article
    by Abdelfetah Hentout, Abderraouf Maoudj, Mohamed Ouahal, Abdennour Gasmi 
    Abstract: In this paper, the key problems related to fault-tolerance and formation control of homogeneous mobile robots team under leader or follower failures are handled by using a multi-agent based approach. The proposed multi-agent system addresses this challenge by using a cooperative approach supported by two kinds of autonomous control agents: (i) Robot agents, each is assigned to a robot in the team for collecting information, making decisions and transferring them to the physical robots for execution. These agents are classified into a Leader and a set of Followers according to the initial distance between the robots positions and the Target position (objective function). (ii) Supervisory agent used as an interface between the overall control system and the robot team while synchronizing and coordinating the task of the other agents. These agents cooperate and interact by a negotiation protocol for coordinating their individual decisions, satisfying their local objective (i.e., optimizing the objective function for each robot) in order to (i) preserve the predefined leader/follower formation, (ii) conserve the order of the robots inside the formation, and (iii) manage dynamic disturbance events such as unexpected robots breakdown or the integration of new robots during the execution process. In order to validate the proposed approach and evaluate its performances, different simulation scenarios are examined by using ten homogeneous mobile robots evolving inside a grid environment cluttered with few static obstacles, with and without considering some robots failures.
    Keywords: Multi-agent control scheme; leader/follower line formation; fault-tolerance; homogeneous robot team.

  • A Novel self-tuning PI controller for a DFIG based wind turbine system   Order a copy of this article
    by Shubhranshu Mohan Parida, Pravat Kumar Rout, Sanjeeb Kumar Kar 
    Abstract: This article presents a novel self-tuning proportional integral (ST-PI) controller for a grid connected wind turbine based on doubly-fed induction generator (DFIG) to regulate the active and reactive power under variable wind speed conditions. The gains of the controller are dynamically adjusted according to the error variation during transient conditions to damp the system oscillations faster with better settling time and lesser overshoot. They are designed to vary continuously according to the error based on tanh function logic within a pre-determined range. The proposed self-tuning controller is able to circumvent the problems usually associated during application of conventional PI controller with constant gain such as robustness, adaptability and wide range of operation. Simulation analysis and comparative studies with conventional PI controller reveal the efficacy of the proposed control scheme. Simulation is done for the system model to test the proposed approach using MATLAB.
    Keywords: Proportional Integral (PI) controller; Self-tuning PI (ST-PI) controller; Doubly-fed Induction Generator (DFIG); Wind Turbine (WT); distributed generator (DG).

  • Hybrid Clipping-PTS Using Enhanced PSO with Cauchy mutation to reduce PAPR of FBMC 5G Systems   Order a copy of this article
    by Mohamed Hussein, Mamdouh Gouda, Hadia Elhennawy 
    Abstract: The filter bank multicarrier having offset quadrature amplitude modulation (FBMC/OQAM) is studied by researchers like key enabler for 5th-generation air interface. This paper is concerned in making full study about peak to average power ratio(PAPR) reduction in FBMC. The first issue of this paper is to make particle swarm optimization (PSO) on partial transmit sequence (PTS) and clipping methods not simultaneously to get optimal phase factor sets using two sub-block partition and select the optimum level of clipping ratio respectively in order to lessen PAPR. Second issue is to make PSO optimization of hybrid (PTS) with clipping (PSO-H-CPTS) which is used for the PAPR reduction in FBMC/OQAM system. The algorithm used PTS to reduce PAPR, so the result is produced using clipping for reducing PAPR where the simulation result in this proposed method produce PAPR value approximated about 4.3 dB and 3.7 dB for V=4 and 8 sub-block partition respectively. The last issue is describe the joint optimization between PSO and Cauchy mutation with the hybrid clipping and PTS techniques which is produce best result than other proposed algorithms, the experimental results shows that EPSO-H-CPTS improve the results by 71.5% than conventional traditional FBMC PAPR in both clipping and PTS where the PAPR reached to a value 2.9 dB after using joint optimization hybrid techniques. Simulation results show that the enhanced PSO optimization of the hybrid methods between clipping and PTS (EPSO-H-CPTS) provides better performance of reducing PAPR than optimization of hybrid clipping PTS(PSO-H-CPTS) and two traditional methods.
    Keywords: Filter bank multicarrier/offset quadrature amplitude modulation(FBMC/OQAM) FBMC; orthogonal frequency division multiplexing (OFDM); Intercarrier interference(ICI);intersymbole interference (ISI);Particle swarm Optimization( PSO); clipping partial transmit sequence (C-PTS); Enhanced Particle swarm Optimization hybrid clipping partial transmit sequence (EPSO-H-CPTS)EPSOHCPTS; Peak to average power ratio(PAPR); complementary cumulative distribution function (CCDF) ;C-PTS OQAM; Active constellation extension with tone reservation (TRACE);bit error rate(BER).

  • Robust $H_{infty}$ Control for Uncertain 2-D State-Delayed Systems in the Second FM Model   Order a copy of this article
    by Khalid Badie, Zakaria CHALH, Mohammed Alfidi 
    Abstract: This paper investigates the problem of robust $H_{infty}$ control for twodimensional (2-D) discrete state delay systems described Fornasini-Marchesini (FM) second model. The parameter uncertainties are supposed to be normbounded.rnOur attention is focused on designing $H_{infty}$ state feedback controllers guaranteeing the asymptotic stability and $H_{infty}$ performance of the corresponding closed-loop system. A sufficient condition for $H_{infty}$ disturbance attenuation performance for the nominal 2-D discrete state delay system is first obtained. Next, a stabilizing state feedback controller is designed such that the resulting closedloop system is asymptotically stable and achieves a prescribed $H_{infty}$ disturbance attenuation level. Furthermore, the resulting criteria are extended to robust $H_{infty}$ control of the uncertain 2-D state-delay system. Two examples are given to demonstrate the advantages of the proposed methods.
    Keywords: 2-D discrete system; robust $H_{infty}$ control; FM second model; LMI.

  • Optimal Design of Broadband Matching Networks using Cuckoo Search Optimization Algorithm   Order a copy of this article
    by Slami SAADI 
    Abstract: In this work, a novel evolutionary optimisation algorithm is introduced for the design of broadband matching networks connecting a resistive source generator and a complex inductive load. Impedance matching networks are the key for full transfer of power to the load. They should offer matching over the entire frequency concerned band. A low noise amplifier (LNA) is also optimised to attain the target gain and noise figure specifications over a definite bandwidth, throughout lumped LC elements. Cuckoo search optimisation algorithm (CSOA) is inspired by the life of a bird family, called cuckoo, offers excellent results with simple tuning parameters compared to previous conventional and meta-heuristic optimisation algorithms. It is extremely powerful in solving engineering optimisation problems. Simulation results for broadband impedance matching networks are presented and analysed and the optimised matching network improves well the performances of the circuit.
    Keywords: broadband; matching network; low noise amplifier; LNA; antenna; cuckoo search algorithm.
    DOI: 10.1504/IJSCC.2019.10018571
     
  • PERFORMANCE ANALYSIS OF VARIOUS SOFT COMPUTING CONTROLLER BASED DYNAMIC VOLTAGE RESTORER   Order a copy of this article
    by Kohila Ramkumar, Muthukumar A, Kannan S 
    Abstract: The implementation of Custom Power Devices (CUPD) such as Dynamic Voltage Restorer (DVR), Distribution Static Compensator (DSTATCOM) and Unified Power Quality Conditioner (UPQC) has become essential for reducing the impact of PQ problems. More specifically, DVR plays vital role for proving solution to the voltage sag problems and to restore the load voltage with in few milliseconds. The performance of the DVR depends on the control strategy adopted with the algorithm. Synchronous Reference Frame Theory (SRFT) based ANFIS controller is proposed in this paper. The Performance of the proposed control strategy is simulated for various conditions like line to ground, double line to ground and three phase fault in MATLAB/ SIMULINK. From the simulation study it is found that the ANFIS based DVR helps to mitigate the voltage sag and reduces the harmonics. The proposed ANFIS based DVR compared with PI, Fuzzy and ANN based controllers.
    Keywords: Dynamic Voltage Restorer; Power Quality; Synchronous Reference frame theory.

  • FBMC Vs OFDM: 5G Mobile Communication System   Order a copy of this article
    by Arun Kumar, Shikha Bharti, Manisha Gupta 
    Abstract: The study presents the designing of an OFDM (Orthogonal Frequency Division Multiplexing) and FBMC (Filter Band Multi Carrier) modulation techniques. The proposed method consists of OFDM and FBMC prototype filters for transmitting and receiving the data symbols. Both of them are multicarrier technologies used to increase the performance of a wireless communication system. Transmission waveform, BER (Bit Error Rate), PAPR (Peak Average Power Ratio), Capacity and Spectrum sensing measurements were simulated and analyzed.
    Keywords: FBMC; OFDM; PAPR (Peak Average Power Ratio); Capacity; BER.

  • A conceptual framework for securing industrial control systems: smart grid environment   Order a copy of this article
    by Saqib Ali 
    Abstract: Cyber-Physical Systems (CPS) utilized in many of the critical infrastructures including the smart grid. The operational activities of smart grid's CPS use different industrial solution such as Industrial Control Systems (ICS) for monitoring and controlling the physical architecture of smart grid. Therefore, it is quite essential to keep these Industrial Control Systems secure and safe from potential hazards and cyber world as it may be harmful for human safety, strategic infrastructure of a country and also for the economy. The study gathered the scattered guidelines, best practices and policies available from various organizations such as NIST, ISO, NERC for the purpose of developing safe and secure ICS security systems and also the knowledge about the issues involved in ICS security and protection. A conceptual framework is proposed and developed to address the shortcomings in-order to protect the ICS systems in a smart grid environment. The proposed framework was developed by reviewing related studies, standards and utilizing IT security working experience. This framework will not only expand the horizon of knowledge but also provides pathway for the development of existing activities of CPS applications such as smart grid.
    Keywords: Industrial Control Systems; SCADA; Cybersecurity; Cyber Physical Systems; Smart Grid.

  • OPTIMIZATION OF PTS TECHNIQUE FOR PAPR REDCUTION IN MIMO-OFDM BASED CRNs   Order a copy of this article
    by Sharanjit Kaur, Inderdeep Kaur Aulakh 
    Abstract: In cognitive radio networks, the available spectrum has to be shared between various users, OFDM (orthogonal frequency division multiplexing) has a feature that supports multiuser access by assigning subcarriers to different users. In wireless transmissions, OFDM is an emerging expertise as it provides flexibility and high speed data transmission. PAPR is the key challenge in OFDM based cognitive radio system that affects the BER. Many techniques such as clipping & filtering method, partial transmit sequence, tone reservation, selective mapping can be used to reduce the PAPR in OFDM based cognitive radio. In this paper, the main focus is on partial transmit sequence. The existing PTS technique works well in reduction of PAPR. But the major drawback of this technique is that the number of multiplications of IFFT sub-sequences with the phase vectors required in it are very high. Hence the computational complexity of the overall technique increases. To reduce this search and computational complexity, optimization is performed in this paper. Binary particle swarm optimization (BPSO) is used to find the optimized phase vector. This phase vector will be the one having reduced PAPR. Thus the computations are reduced in proposed approach. The purpose of proposed approach is to find out the absolute convergence of MIMO multiplexing to reduce the internal phase to phase PAPR in cognitive radio based networks. The only difference between BPSO and PSO is that in BPSO velocity of the particles are bounded between [0, 1]. The proposed results shows that in case of PTS-BPSO error reduces at higher rate with less PAPR. When the OFDM signal length is 1k then the PAPR is reduced from 11 dB to 5.1 dB. Also in case of Bit error rate for proposed approach the BER is reduced at different SNR values as compared to conventional approach because the PAPR is less due to BPSO optimization.
    Keywords: OFDM; PTS; BPSO; PSO; PAPR; BER.

  • Design of an automatic voltage regulator based on symmetric root locus technique   Order a copy of this article
    by Rittu Angu 
    Abstract: An automatic voltage regulator (AVR) design based on symmetric root locus (SRL) technique for a synchronous machine infinite bus (SMIB) power system is presented. The SRL technique is used to minimize the amplifier saturation by placing the closed-loop poles (CLPs) of the system at desired locations. The desired CLPs are decided by considering the dominant pole locations that provide maximum damping on the SRL plot. The design incorporates an extended estimator to deal with uncertainties introduced due to variations of parameters or operating conditions. They reconstruct the state information including the state of disturbance dynamics simultaneous to implement full state feedback and using the reconstructed disturbance estimate to compensate the effect of external disturbance or parameter uncertainties. The performance of the system is analysed through simulating at different operating conditions. The control method improves the tracking response and provides zero estimation error in the steady-state. Illustrative examples have been provided to demonstrate the effectiveness of the developed methodology.
    Keywords: Synchronous machine infinite bus; automatic voltage regulator; symmetric root locus; extended estimator.

  • Precoded GFDM System for Self-Interference Mitigation
    by Hossein Khaleghi Bizaki, Mohsen Farhang 
    Abstract: Generalized Frequency Division Multiplexing (GFDM) is a multicarrier transmission scheme that offers a flexible framework to address diverse requirements of fifth generation of cellular networks. Compared to Orthogonal Frequency Division Multiplexing (OFDM), the application of pulse shaping in GFDM can control the Out Of Band (OOB) radiation and enables relaxed synchronization requirements. However, the subcarriers in GFDM are no longer orthogonal and there is inherent interference. Since this interference is known at the transmitter, it can be mitigated by means of precoding techniques. In this paper, Tomlinson-Harashima Precoding (THP) scheme is applied to GFDM transceiver and its performances is compared to previous methods in terms of Bit Error Rate (BER) and Peak to Average Power Ratio (PAPR). The results show that the proposed precoder outperforms previous methods in both BER and PAPR.
    Keywords: GFDM, non-Orthogonal waveform, Precoding technique, Self-Interference