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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA)
Ali Hussien Mary
University of Baghdad
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Number of sources estimation using a hybrid algorithm for smart antenna Mohammed Hussein Miry; Atheer A. Sabri; Ali Hussien Mary
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp6210-6217

Abstract

The number of sources estimation is one of the vital key technologies in smart antenna. The current paper adopts a new system that employs a hybrid algorithm of artificial bee colony (ABC) and complex generalized Hebbian (CGHA) neural network to Bayesian information criterion (BIC) technique, aiming to enhance the accuracy of number of sources estimation. The advantage of the new system is that no need to compute the covariance matrix, since its principal eigenvalues are computed using the CGHA neural network for the received signals. Moreover, the proposed system can optimize the training condition of the CGHA neural network, therefore it can overcome the random selection of initial weights and learning rate, which evades network oscillation and trapping into local solution. Simulation results of the offered system show good responses through reducing the required time to train the CGHA neural network, fast converge speed, effectiveness, in addition to achieving the correct number of sources.
Performance assessment of fractional order PID control for a 2DOF flexible joint robotic manipulator under various operating conditions Ahmed Alkamachi; Ali Hussien Mary
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 3: September 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i3.pp597-606

Abstract

Flexible joint robot manipulators (FJM) exhibit high nonlinear dynamics and coupling effects, which make their control a challenging task. This paper proposes a fractional order PID (FOPID) cascade control strategy for a 2DOF FJM. The controller performance is compared with that of a sliding mode controller (SMC) under identical operating conditions. Both controllers’ parameters are optimally tuned using the particle swarm optimization (PSO) algorithm to ensure a fair performance evaluation. The proposed control consists of an inner loop that regulates motor dynamics and an outer loop that ensures accurate link position tracking. Additionally, a gravity compensator is integrated to improve control efficiency by reducing the nonlinear load on the controller. Both controllers are evaluated under nominal conditions, external disturbances, and variable payloads. Numerical results show a performance trade-off: under nominal conditions, FOPID achieved superior tracking performance (ITAE = 0.1165 for link 1) compared to SMC (ITAE = 0.2423), while SMC provided a smooth, zero-overshoot response and consumed much less actuator energy (ISCE = 23.35 vs. FOPID's 154.78). Furthermore, when subjected to a severe 1.0 N.m external disturbance, FOPID showed superb robustness by maintaining an ITAE of 0.178, whereas SMC suffered severe performance degradation. These findings illustrate the trade-offs between energy efficiency and robust precision in FJM control.
Co-Authors Ahmed Alkamachi Atheer A. Sabri Mohammed Hussein Miry