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Open Access Article
1 - Function Approximation Approach for Robust Adaptive Control of Flexible joint Robots
A. R. Izadbakhsh A. BodaghiThis paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-bas MoreThis paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dynamics, and the second term is used to damp out the elastic oscillations of the joints. The stability analysis is provided according to the Lyapunov direct method. Simulation results on a single-link FJR demonstrate suitable performance of the proposed control schemes. Manuscript profile -
Open Access Article
2 - Synchronization of a Heart Delay Model with Using CPSO Algorithm in Presence of Unknown Parameters
S. Nazari A. HeydariHeart chaotic system and the ability of particle swarm optimization (PSO) method motivated us to benefit the method of chaotic particle swarm optimization (CPSO) to synchronize the heart three-oscillator model. It can be a suitable algorithm for strengthening the contro MoreHeart chaotic system and the ability of particle swarm optimization (PSO) method motivated us to benefit the method of chaotic particle swarm optimization (CPSO) to synchronize the heart three-oscillator model. It can be a suitable algorithm for strengthening the controller in presence of unknown parameters. In this paper we apply adaptive control (AC) on heart delay model, also examine the system stability by the Lyapunov stability theorem. Then we improve results with using CPSO algorithm and define an appropriate cost function. At the end of we implement the proposed approach on an example. Manuscript profile -
Open Access Article
3 - Adaptive phase control of robot with flexible joint optimized by genetic algorithm
Mirsjad Mousavi Ebrahim AbbaszadehThe robot studied in this paper is a mechanical system consisting of an arm with a flexible joint with two degrees of freedom. This paper proposes an adaptive phase controller for this flexible joint. The proposed controller is evaluated for stability and perturbation r MoreThe robot studied in this paper is a mechanical system consisting of an arm with a flexible joint with two degrees of freedom. This paper proposes an adaptive phase controller for this flexible joint. The proposed controller is evaluated for stability and perturbation removal. In order to achieve the maximum speed in following the control commands, the effective parameters in the controller are optimized by the genetic optimization algorithm Manuscript profile -
Open Access Article
4 - Design of an Intelligent Adaptive Control with Optimization System to Produce Parts with Uniform Surface Roughness in Finish Hard Turning
vahid pourmostaghimi Mohammad Zadshakoyan -
Open Access Article
5 - A New Design for Active Isolation of Patient's Compartment from Ambulance Body using the Adaptive Control Method
Aliasghar Meraji Saied Mahjoub Moghadas -
Open Access Article
6 - Providing Improved Structure and Adaptive Control Strategy for Solar System with the Ability to Improve Power Quality in Islanded Microgrid
Reza Ghobadi Ghazanfar ShahgholianDue to the ever-increasing price of fossil fuels and growing concerns about environmental pollution, the utilization of renewable resources, such as photovoltaic (PV) systems, has witnessed significant growth. However, the lack of an optimal structure and control strate MoreDue to the ever-increasing price of fossil fuels and growing concerns about environmental pollution, the utilization of renewable resources, such as photovoltaic (PV) systems, has witnessed significant growth. However, the lack of an optimal structure and control strategy for PV systems poses a crucial challenge in fully exploiting their potential capabilities. This article proposes a suitable structure and adaptive control strategy for PV systems, enabling the maximum utilization of PV system capabilities in island microgrids. The proposed control structure and strategy are based on a two-stage converter, facilitating maximum power point tracking in PV, injecting the generated PV power into the microgrid with minimal harmonic levels, and improving the power quality of the microgrid by compensating for harmonic components. In this method, the tasks of the DC/AC converter, including the injection of PV active power into the microgrid, provision of reactive power, and harmonic compensation, are prioritized and managed by considering the current peak limitation to prevent inverter overcurrent. Additionally, an adaptive controller is designed to enhance the accuracy and speed of power control. The proposed structure and strategy have been evaluated by simulating a sample microgrid in MATLAB/Simulink. The simulation results demonstrate that the proposed method enables the PV system to operate at maximum power with minimum harmonic levels, leading to a significant improvement in the speed and accuracy of the control system and enhancing the power quality of the islanded microgrid. Manuscript profile -
Open Access Article
7 - Design of a Model Reference Adaptive Controller Using Modified MIT Rule for a Second Order System
Saeed Barghandan Aref DaeiFarshchi -
Open Access Article
8 - Reinforcement Learning Based PID Control of Wind Energy Conversion Systems
Mohammad Esmaeil akbari Noradin Ghadimi -
Open Access Article
9 - An overview of aircraft control procedures in the presence of operator failure
Saeed Barghandan Masoud Solouki -
Open Access Article
10 - A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
Shaghayegh Gorji Mohammad Javad Yazdanpanah -
Open Access Article
11 - Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
Abolfath Nikranjbar Masoud Haidari Ali Asghar Atai -
Open Access Article
12 - A Novel Approach to Determine Dosage in Treatment of AIDS Based on Direct Self Tuning Regulator (STR) Theory and Linearization Around Equilibrium Condition
Mohammad Fiuzy Sayed Kamaledin Mousavi Mashhadi -
Open Access Article
13 - Flexible Robot Arm Control Using Adaptive Control Structure
Hadi Hasanpour Esmaeil Alibeiki Seyyed Mostafa Ghadami -
Open Access Article
14 - Computer-based Regressor-free Adaptive Control versus Direct Adaptive Fuzzy Control of the Robotic System
Mahmood Nadali Abolghasem Nadali Maryam Nadali -
Open Access Article
15 - Adaptive control of nonlinear time delay systems in the presence of output constraints
Fatemeh Mohammadzamani Mahnaz Hashemi Ghazanfar ShahgholianControlling systems in industrial processes are subject to problems such as the limitation of system signals, the uncertainties of parameters, the time delay and the failure of actuators. The design of the controller, which can satisfy the constraints, counteract and om MoreControlling systems in industrial processes are subject to problems such as the limitation of system signals, the uncertainties of parameters, the time delay and the failure of actuators. The design of the controller, which can satisfy the constraints, counteract and omit these effects, has attracted much attention.On the other hand, the issue of time delay is so serious and effective, which can make the system unstable and disrupt the process. Many of the devices in the systems, such as sensors and actuators, may be defective. The important thing is that any of the above or even system parameters may be uncertain. Identifying, estimating and fixing the destructive effects of the problems mentioned by the controller of the system.The proposed method of control for nonlinear systems in the presence of an uncertain parameters, delay and faults in actuators. There is no need to limit the parameters, delays, and fault of the actuators. This comparative method is capable of guaranteeing the overall boundary of all closed-loop system signals and the convergence of tracking errors to a small neighborhood around the origin. At the end, the simulation results show the effectiveness of the proposed control method Manuscript profile -
Open Access Article
16 - Adaptive Fault Compensation Approach for Uncertain Multi Agent Systems
Shohre Sharifian Mahnaz HashemiIn this paper, the compensation controller approach is investigated for uncertain nonlinear multi agent systems. The dynamics of each of the agents includes uncertainties. Meanwhile, the exchange of the information between the agents is done under directed and fixed gra MoreIn this paper, the compensation controller approach is investigated for uncertain nonlinear multi agent systems. The dynamics of each of the agents includes uncertainties. Meanwhile, the exchange of the information between the agents is done under directed and fixed graphs. In this design, nonlinear control method is used to design nonlinear backstepping controller. The systems uncertainties are approximated by using the adaptive control method. To overcome the unpredictable effects of faults occurrence in the considered system actuators, Defective adaptive compensation method is used without any knowing about the fault time, fault type and fault structure. Finally, with the introduction of the new Lyapunov functions and by using the graph theory, the stability of the closed loop system is proved. By presenting a simulated example, the efficiency of the control view presented for nonlinear multi agent systems is shown in the presence of unknown faults in actuators and unknown external disturbances. Manuscript profile -
Open Access Article
17 - Neural Adaptive Robust Finite-Time Control of Tractor-Trailer Wheeled Mobile Robot via Input-Output Feedback Linearization Technique
Maliheh Kazemipour Khoshnam ShojaeiThe reference trajectory tracking is one of the most important issues in the field of tractor-trailer wheeled mobile robots control. In this paper, thetrajectory tracking control issues of a tractor-trailer wheeled mob­ile robot has been significantly solved in the MoreThe reference trajectory tracking is one of the most important issues in the field of tractor-trailer wheeled mobile robots control. In this paper, thetrajectory tracking control issues of a tractor-trailer wheeled mob­ile robot has been significantly solved in the presence of structural uncertainties,non-hol­o­­n­o­mic constraints and external disturbance. The proposed scheme is based on a design that the tractor-trailer’s state space representation is extracted from its dynamic and ki­n­­e­matic models and presented ina companion format first. In the following,by considering the state space representation of system, the control algorithm is presented includingtwo external and internal control loops. Toward this end, the control law has been developed in the inner loop via input-output feedback linearization in a nonlinear feedback formwh­i­­ch is continuously eliminating the nonlinear dynamics of the system. Then,by using a comb­ination of the output that is pr­o­duced in linearization steps with a terminal sliding mode control algorithm and sketching a neural robust ad­aptive finite time controller in the outer loop, the accurate and fast performance of the closed loop system has been guar­a­nteed in the presence of uncertainties. The proposed control algorithmfinally guarantees the boundedness of closed-loop signals and accurate finite time convergence of tracking errors. At the end, the effectiveness of the proposed sch­eme has been demo­nstrated and shown through the extended Lyapunov theorem and simulated by MATLAB application. Manuscript profile -
Open Access Article
18 - Adaptive synchronization control of chaotic nonlinear systems in the presence of input saturation and actuator faults
Mahnaz Hashemi Amir PooyanIn this paper, the control problem is investigated for Jerk chaotic systems against unknown parameters, actuator faults and input saturation. The considered actuator fault covers both of the stuck faults and loss of effectiveness faults in actuators. The values, times a MoreIn this paper, the control problem is investigated for Jerk chaotic systems against unknown parameters, actuator faults and input saturation. The considered actuator fault covers both of the stuck faults and loss of effectiveness faults in actuators. The values, times and patterns of the considered faults are completely unknown. That is, during the system operation it is unknown when, by how much and which actuators fail. A robust adaptive controller is presented based on the backstepping design method to achieve complete synchronization of the identical Jerk chaotic systems. By introducing the new Lyapunov functions, it is proved that all the closed loop signals are bounded and the tracking error converges to a small neighborhood of the origin. The proposed adaptive method compensates the actuator faults without any need for explicit fault detection. Simulation results represent that the designed controller can synchronize the identical chaotic systems in the presence of actuator fault, input saturation and unknown parameters. Manuscript profile -
Open Access Article
19 - Adaptive Control of Nonlinear Systems in the presence of Actuator Failures
mahnaz hashemiThis paper presents an adaptive state feedback control scheme for a class of nonlinear systems with unknown parameters, variable control gains and in the presence of unknown time varying actuator failures. The designed controller compensates unknown loss of effectivenes MoreThis paper presents an adaptive state feedback control scheme for a class of nonlinear systems with unknown parameters, variable control gains and in the presence of unknown time varying actuator failures. The designed controller compensates unknown loss of effectiveness failures as well as unknown time varying stuck failures in actuators. The considered actuator failure can cover most failures that may occur in actuators of the practical systems. The proposed adaptive controller is constructed based on a backstepping design method. Appropriate Lyapunov-Krasovskii functionals are introduced to design new adaptive laws to compensate the unknown actuator failures and unknown parameters. The offered method ensures the asymptotic output tracking and the boundedness of all the closed-loop signals. The proposed design approach is employed for a wing rock control of an aircraft in the presence of time varying actuator failures. The simulation results verify the effectiveness and correctness of the proposed adaptive control method. Manuscript profile -
Open Access Article
20 - A Robust Neuro_Adaptive Control of Three Link SCARA Robot with Mass Uncertainty
Mansooreh Taslimi Abbas Chatraei Mojtaba HosseiniThe purpose of this paper is design of a neuro-adaptive controller for SCARA mechanical arm. First, a brief description of the work that has been done on similar systems will be presented and then using the Euler - Lagrange, based on kinetic and potential energy of MoreThe purpose of this paper is design of a neuro-adaptive controller for SCARA mechanical arm. First, a brief description of the work that has been done on similar systems will be presented and then using the Euler - Lagrange, based on kinetic and potential energy of the system, the dynamical equations of system will be calculated. The proposed controller is used to provide a suitable Lyapunov function, expression and comparative law will guarantee the stability of the closed loop system. All signals in the closed loop system are limited and the error signal tends asymptotically to origin. The control system is designed to demonstrate the efficacy of proposed controller on three links SCARA robot is implemented, the results of the controller performance guarantees. Manuscript profile -
Open Access Article
21 - Decentralized Adaptive Control of Large-Scale Non-Affine Nonlinear Time-Delay Systems Using Wavelet Neural Networks
Elaheh Saeedi Bahram Karimi Mostafa \خخقذثاهIn this paper, a decentralized adaptive controller with using wavelet neural network is used for a class of large-scale nonlinear systems with time- delay unknown nonlinear non- affine subsystems. The entered interruptions in subsystems are considered nonlinear with tim MoreIn this paper, a decentralized adaptive controller with using wavelet neural network is used for a class of large-scale nonlinear systems with time- delay unknown nonlinear non- affine subsystems. The entered interruptions in subsystems are considered nonlinear with time delay, this is closer the reality, compared with the case in which the delay is not considered for interruptions. In this paper, the output weights of wavelet neural network and the other parameters of wavelet are adjusted online. The stability of close loop system is guaranteed with using the Lyapanov- Krasovskii method. Moreover the stability of close loop systems, guaranteed tracking error is converging to neighborhood zero and also all of the signals in the close loop system are bounded. Finally, the proposed method, simulated and applied for the control of two inverted pendulums that connected by a spring and the computer results, show that the efficiency of suggested method in this paper. Manuscript profile -
Open Access Article
22 - Neuro-adaptive control in beating heart surgery based on the viscoelastic tissue model
Setareh Rezakhani Mehdi Aliyari Shoorehdeli Azam GhasemiIn this paper, the problem of 3D heart motion in beating heart surgery is resolved by proposing a parallel force-motion controller. Motion controller is designed based on neuro-adaptive approach to compensate 3D heart motion and deal with uncertainity in dynamic paramet MoreIn this paper, the problem of 3D heart motion in beating heart surgery is resolved by proposing a parallel force-motion controller. Motion controller is designed based on neuro-adaptive approach to compensate 3D heart motion and deal with uncertainity in dynamic parameters, while an implicit force control is implemented by considering a viscoelastic tissue model. Stability analysis is proved through Lypanov’s stability theory and Barballet’s lemma. Simulation results, for D2M2 robot, which is done in nominal case and viscoelastic parameter mismatches demonstrate the robust performance of the controller. Manuscript profile -
Open Access Article
23 - Designing a Fuzzy Adaptive Controller for a Rigid joint Two Link Non-Linear Manipulator with Uncertainty
Maryam Montazeri Seyed Hamid MahmoodianThis paper presents a control approach to the fuzzy-adaptive control scheme for rigid manipulators with unknown parameters. Lagrange’s method is employed for computing robot motion dynamics. Stability analysis guaranteed through Lyapunov’s theory using some MoreThis paper presents a control approach to the fuzzy-adaptive control scheme for rigid manipulators with unknown parameters. Lagrange’s method is employed for computing robot motion dynamics. Stability analysis guaranteed through Lyapunov’s theory using some suitable adaptive rules that make sure all signals in the closed-loop system are bounded and tracking error ones asymptotically reaches to zero. Compared with other controllers, there are some numerical simulations that verify effectiveness of the proposed method. Also, simulation results verify that the proposed controller can deal with uncertainties in the system. Manuscript profile -
Open Access Article
24 - Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle
Saeed Nakhkoob Abbas Chatraei Khoshnam ShojaeiIn this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account MoreIn this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma. Manuscript profile -
Open Access Article
25 - Online adaptive neuro-fuzzy controller design to attenuate the seismic responses in a 20-story benchmark structure
Rasoul Sabetahd Seyed Arash Mousavi Ghasemi Ramin Vafaei Poursorkhabi Ardashir Mohammadzadeh Yousef ZandiIn the present research, design of a strong and online adaptive controller in the active cable control system is discussed to overcome the earthquake vibrations of multi-story buildings. Considering all variables as unknown, this study introduces a new type 2 adaptive n MoreIn the present research, design of a strong and online adaptive controller in the active cable control system is discussed to overcome the earthquake vibrations of multi-story buildings. Considering all variables as unknown, this study introduces a new type 2 adaptive neuro-fuzzy controller. Using the MLP neural network (multi-layer perceptrons), Jacobian and the structural system estimation are extracted. This estimated structural system model is implemented into the online controller system in the next step. Adaptive controllers are tuned using a post-propagation algorithm and Extended Kalman Filter and are thus able to control and tune the controllers and the cable system. In this method, a PID controller is also used, which increases the strength and stability of the adaptive neural-fuzzy controller system two against earthquake vibrations. The superiority of the proposed controller system over an online simple adaptive controller is also demonstrated. This controller is utilized as an implicit reference model. In this proposed method, Extended Kalman Filter is innovatively used to tune online controllers. In this research, the performance of both controllers is investigated under the far and near fault field pressures. Based on the numerical results, the adaptive neural-fuzzy controller performs about 21% better than the online simple adaptive controller in minimizing the seismic responses of the structure during an earthquake and reaching the control criteria when the parametric characteristics of the structure change. Manuscript profile -
Open Access Article
26 - Finite Time Adaptive Optimal Integral Sliding Mode Control for a Class of Uncertain Second Order Nonlinear Systems with Input Nonlinearity
Alireza Modirrousta Hadi Delavari -
Open Access Article
27 - Adaptive Barrier Function based on Sliding Mode Control for High-Order Nonlinear Systems
Hossein Norouzi Javad Mostafaee Hassan Keshavarz Ziarani -
Open Access Article
28 - Adaptive Control of Machining Process Using Electrical Discharging Method (EDM) Based on Self-Tuning Regulator (STR)
Seyed Mahyar Mehdizadeh Moghadam Esmail Alibeiki Alireza Khosravi -
Open Access Article
29 - An Algorithm for Multi-Realization of Nonlinear MIMO Systems
Soodeh Faraji Ali Khaki Seddigh -
Open Access Article
30 - Passivity-based design of controller and observer for a class of nonlinear systems with application to Hepatitis B Disease
shaghayegh gorji Ahmad Fakharian Rezvan AbbasiIn this paper, a strictly passive formulation has been developed to design a passive state-observer for both time-invariant and time-varying Lipschitz nonlinear systems. During this formulation, a convergence and strictly passive state-observer is provided to have passi MoreIn this paper, a strictly passive formulation has been developed to design a passive state-observer for both time-invariant and time-varying Lipschitz nonlinear systems. During this formulation, a convergence and strictly passive state-observer is provided to have passive closed-loop system. Some definitions and charts are defined here for time-invariant and time-varying systems in different scenarios. A new interconnection between passivity of subsystems and passivity/stability of the closed-loop system has been introduced from a different point of view. All definitions are organized based on the systematic method called “virtually Euler-Lagrange” form of passivation. Utilizing this form and theses definitions, make the design process simpler and straightforward, while, some conditions of design will be released due to using these definitions. The designed controller/observer has been applied to control the hepatitis B virus infection disease. The reliability of the proposed definitions are examined by using MATLAB/SIMULINK, while, the results demonstrate the ability and power of this novel approach. Manuscript profile
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