This manuscript investigates the synchronization between a novel integer order hyperchaotic system and a fractional order hyperchaotic system. The controllers are constructed using the technique of tracking controller and the stability theory of the linear fractional order system. Chaotic analysis of the introduced novel integer order hyperchaotic system is also investigated. The Lyapunov exponent, bifurcation diagram, Poincare section, Kaplan-Yorke dimension, equilibria and phase portraits are given to justify the chaotic nature of the system. Theoretical results are supported with the

We have investigated different nonidealities in Cu2ZnSnSe4-CdS-ZnO solar cells with 9.7% conversion efficiency, in order to determine what is limiting the efficiency of these devices. Several nonidealities could be observed. A barrier of about 300 meV is present for electron flow at the absorber-buffer heterojunction leading to a strong crossover behavior between dark and illuminated current-voltage curves. In addition, a barrier of about 130 meV is present at the Mo-absorber contact, which could be reduced to 15 meV by inclusion of a TiN interlayer. Admittance spectroscopy results on the

We show that the four parameters of a single-dispersion Cole-Cole bio-impedance model can be extracted from an one time-domain measurement with a fixed frequency. In particular, a periodic triangle waveform current excitation signal is injected into the biological sample under study while measuring the voltage developed across this sample in a galvanostatic measurement setup. The voltage response due to this triangle-wave excitation is firstly analytically derived in closed form. After that the Flower Pollination optimization Algorithm (FPA) is applied to extract the unknown model parameters

This paper investigates the multi-switching master–slave synchronization of non-identical chaotic systems in which state variables of a master system are synchronized with different state variables of a slave system using the sliding mode control technique. To design the appropriate controllers via sliding mode control for different switches, Lyapunov stability theory is taken into account. Theoretical results are applied by considering two non-identical chaotic systems where one is considered as master system and another is considered as slave system. Numerical simulations are performed to

This paper presents the modelling and control of a 2-DOFs Twin rotor multi input multi output (MIMO) system which is a laboratory setup resembling the dynamics of a helicopter. In this paper, the system modelling process is done using the common conventional mathematical model based on Euler-Lagrange method. The transfer functions of the model are used in the different tuning methods to reach the optimal PID gain values. The study uses conventional Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers to obtain a robust controller for the system. Particle Swarm

This paper addresses a comparison between some control methods of three Omni wheels firefighting robot due to the variety of maneuverability. To achieve path planning for firefighting robot to reach a specific point with the shortest path, a kinematics model of omni wheel robot is applied with some control algorithms based on PID controller, Fuzzy logic controller and self-tuned PID using fuzzy logic techniques. Hardware prototype has been tested to validate the simulation results. © 2020, Springer Nature Switzerland AG.

The paper introduces a comparative analysis between three meta-heuristic techniques in the optimization of Proportional-Integral-Derivative (PID) controller for a cascaded control of a ball and beam system. The meta-heuristic techniques presented in this study are Particle Swarm Optimization (PSO), Artificial Bee Colony (ABC) and Bat Algorithm Optimization (BAO). The model uses a DC motor with encoder to move the beam and a camera as a feedback for the ball position on the beam. The control theory of the system depends on two loops; the first (inner) loop is the DC motor for position control

This paper represents the control of the Pioneer-3 Mobile Robot as a complex non-linear system which provides an object for research nonlinear system kinematics and dynamics analysis. In this paper, the system modeling and simulation is divided into two main parts. The first part is the modeling and simulation using MATLAB and the second part is the whole mechanical design and its characteristics as a function of the motor speed and the torque depending on the system using Virtual Robot Environment Program (V-REP). The study uses Proportional–Integral–Derivative (PID) and Fractional Order PID

Tuning process which is used to find the optimum values of the proportional integral derivative (PID) parameters, can be performed automatically using meta-heuristics algorithms such as BA (Bat Algorithm), PSO (Particle Swarm Optimization) and ABC (Artificial Bee Colony). This paper presented a theoretical and practical implementation of a drawing robot using BA to tune the PID controller governing the robotic arm which is a non linear system difficult to be controlled using classical control. In line with the above and in order to achieve this aim and meet high performance feedback and robust

Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals’ motion in the robotics field. The biological creature’s movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb. SPA’s behavior is simulated using finite element analysis to design turtle flipper at 22 different geometrical configurations, and the simulations are conducted on a large pressure range (0.11–0.4 Mpa). The