List of Articles LQR

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  1 - Optimal Locations on Timoshenko Beam with PZT S/A for Suppressing 2Dof Vibration Based on LQR-MOPSO
  M Hasanlu A Bagheri
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• Open Access Article
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  2 - Optimal Analysis and Design Controller for Suppressing Vibration Smart Timoshenko Beam by Using Various Intervals
  مجتبی حسنلو اجمد باقری فرید نجفی
  The subject of this study was vibration damping of Timoshenko beam based on finding optimal place and number of piezoelectric sensor and actuator using LQR controller and MOPSO algorithm. Today, researchers make a lot of effort to make a structure have optimized reliabl More

  The subject of this study was vibration damping of Timoshenko beam based on finding optimal place and number of piezoelectric sensor and actuator using LQR controller and MOPSO algorithm. Today, researchers make a lot of effort to make a structure have optimized reliable life, manufacturing cost, and power consumption. One of the researches on optimized and controlled smart structure is through using piezoelectric sensor and actuator so that the sensor and actuator can adopt the best controlling interest based on the type of approach to design the controller upon receipt of a vibration by sensor and with the transfer of vibration signals to the controller. Then, it can transfer a proper signal to the actuator. In fact, it is the actuator that tries to neutralize the vibrations of the structure in order to have a structure with longer life and lower failure and can meet the designer's objective in the best way. In this study, using MOPSO algorithm and defining the design variables, the best number and location to place the piezoelectric sensor and actuator at the bottom and top the bottom and top cantilever beam in in a specified range can be searched and then an optimal model of smart structure was suggested. Manuscript profile
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  3 - Design of a Sliding Mode Controller for Two-Wheeled Balancing Robot
  Ehsan Abbas nejad Abbas Harifi
  Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems) has become a challenging problem for control engineers. Two-wheeled balancing robots is one of the appealing examples of this category. This type of robot contains two pa More

  Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems) has become a challenging problem for control engineers. Two-wheeled balancing robots is one of the appealing examples of this category. This type of robot contains two parallel wheels and an inverted pendulum. In this research, designing of controller have been investigated for flat surfaces. For controller design, the extract dynamics of the system has been achieved based on Kane's method. Then for the two-wheeled balancing robot, one sliding mode controller has been designed for yaw angle, and another sliding mode controller has been designed to control both position and pitch angle based on a proposed sliding surface. The main feature of the proposed controllers is that all of controllers have been designed based on the nonlinear dynamics of system. Also, considering the limits of uncertainties while designing systems, the robustness of controllers have been increased. The common problem of sliding mode control is chattering phenomenon that has been greatly reduced using saturation function instead of sign function. Simulation results comparision of the designed controller with a LQR controller, validates the effectiveness of the proposed controller. Manuscript profile
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  4 - Trajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
  Amin Abbasi Ata Jahangir Moshayedi
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