Hybrid Backstepping Control of a Quadrotor Using a Radial Basis Function Neural Network

Maaruf, Muhammad; Hamanah, Waleed M.; Abido, M. A.

doi:10.3390/math11040991

Cited by 6 publications

(2 citation statements)

References 57 publications

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“…This is precisely why it is essential to introduce an efficient sampling method to properly select the dataset for the surrogate model. In addition, traditional surrogate models such as the Kriging models [19], radial basis functions [20], response surface models [21], and artificial neural networks [22] still have shortcomings. This stems from the theoretical basis of these models, relying on the law of large numbers based on traditional statistical theory, and they take empirical risk minimization as a criterion.…”

Section: Introductionmentioning

confidence: 99%

A Novel Inversion Method for Permeability Coefficients of Concrete Face Rockfill Dam Based on Sobol-IDBO-SVR Fusion Surrogate Model

Xiong,

Shen,

et al. 2024

Mathematics

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The accurate and efficient inversion of permeability coefficients is significant for the scientific assessment of seepage safety in concrete face rockfill dams. In addressing the optimization challenge of permeability coefficients with few samples, multiple parameters, and strong nonlinearity, this paper proposes a novel intelligent inversion method based on the Sobol-IDBO-SVR fusion surrogate model. Firstly, the Sobol sequence sampling method is introduced to extract high-quality combined samples of permeability coefficients, and the equivalent continuum seepage model is utilized for the forward simulation to obtain the theoretical hydraulic heads at the seepage monitoring points. Subsequently, the support vector regression surrogate model is used to establish the complex mapping relationship between the permeability coefficients and hydraulic heads, and the convergence performance of the dung beetle optimization algorithm is effectively enhanced by fusing multiple strategies. On this basis, we successfully achieve the precise inversion of permeability coefficients driven by multi-intelligence technologies. The engineering application results show that the permeability coefficients determined based on the inversion of the Sobol-IDBO-SVR model can reasonably reflect the seepage characteristics of the concrete face rockfill dam. The maximum relative error between the measured and the inversion values of the hydraulic heads at each monitoring point is only 0.63%, indicating that the inversion accuracy meets the engineering requirements. The method proposed in this study may also provide a beneficial reference for similar parameter inversion problems in engineering projects such as bridges, embankments, and pumping stations.

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Section: Introductionmentioning

confidence: 99%

A Novel Inversion Method for Permeability Coefficients of Concrete Face Rockfill Dam Based on Sobol-IDBO-SVR Fusion Surrogate Model

Xiong,

Shen,

et al. 2024

Mathematics

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“…The simulation results show that the FLC is also a promising technique. The FLC is indeed a powerful control tool suitable for nonlinear systems [17]. Moreover, a fractional order proportional-integral-derivative (FOPID) controller has also been proposed as a promising technique, as in Ref.…”

Section: Introduction 1backgroundmentioning

confidence: 99%

Development of a Volkswagen Jetta MK5 Hybrid Vehicle for Optimized System Efficiency Based on a Genetic Algorithm

Neamah,

Dulaimi,

Silavinia

et al. 2024

Energies

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Hybrid electric vehicles (HEVs) have emerged as a trendy technology for reducing over-dependence on fossil fuels and a global concern of gas emissions across transportation networks. This research aims to design the hybridized drivetrain of a Volkswagen (VW) Jetta MK5 vehicle on the basis of its mathematical background description and a computer-aided simulation (MATLAB/Simulink/Simscape, MATLAB R2023b). The conventional car operates through a five-speed manual gearbox, and a 2.0 TDI internal combustion engine (ICE) is first assessed. A comparative study evaluates the optimal fuel economy between the conventional and the hybrid versions based on a proportional-integral-derivative (PID) controller, whose optimal set-point is predicted and computed by a genetic algorithm (GA). For realistic hybridization, this research integrated a Parker electric motor and the diesel engine of a VW Crafter hybrid vehicle from the faculty of engineering to reduce fuel consumption and optimize the system performance of the proposed car. Moreover, a VCDS measurement unit is developed to collect vehicle data based on real-world driving scenarios. The simulation results are compared with experimental data to validate the model’s accuracy. The simulation results prove the effectiveness of the proposed energy management strategy (EMS), with an approximately 89.46% reduction in fuel consumption for the hybrid powertrain compared to the gas-powered traditional vehicle, and 90.05% energy efficiency is achieved.

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Event‐triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle

Wang,

Wu,

Tang

et al. 2024

Adaptive Control & Signal

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SummaryThis article addresses the safe tracking control problem of quadrotor unmanned aerial vehicles (QUAV) considering uncertain aerodynamics and unknown external disturbances. First, a robust adaptive backstepping controller is designed, where the bias of the control variable, that is, the tracking error of the attitude subsystem, is considered in the design process of the position subsystem. Meanwhile, the safe obstacle avoidance objective is realized by the quadratic programming (QP) method that combines the tracking controller with the exponential control barrier function (ECBF). Furthermore, an event‐triggered mechanism is used for the QP process to conserve computing resources. Simulation validates the feasibility and superiority of the proposed control scheme in presence of multi‐obstacle.

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Hybrid Backstepping Control of a Quadrotor Using a Radial Basis Function Neural Network

Cited by 6 publications

References 57 publications

A Novel Inversion Method for Permeability Coefficients of Concrete Face Rockfill Dam Based on Sobol-IDBO-SVR Fusion Surrogate Model

A Novel Inversion Method for Permeability Coefficients of Concrete Face Rockfill Dam Based on Sobol-IDBO-SVR Fusion Surrogate Model

Development of a Volkswagen Jetta MK5 Hybrid Vehicle for Optimized System Efficiency Based on a Genetic Algorithm

Event‐triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle

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