Sharif Digital Repository

Using the combination of fuzzy clustering estimation and sliding mode control, a technique for controlling the magnetic levitation (ML) systems is introduced. This technique is applied to an experimental setup of an ML system for investigating the method derived. The system considered, is a symmetric rotor supported by a cantilever load cell beam and excited by only one electromagnet of a 4-pole magnetic bearing setup. After demonstrating the experimental setup instruction and the specifications of its parts, the clustering, and the sliding mode control methods are explained briefly, then the quality of implementing the techniques to the setup is described step by step. Finally, the results... 

In this paper, design, simulation and optimization of a novel electrothermally-activated polymeric microactuator capable of generating combination of bidirectional lateral and rotational motions are presented. The composite structure of this actuator is consisted of a symmetric meandered shape silicon skeleton, a SU8 thermal expandable polymer and a thin film chrome layer heater. This actuator is controlled by applying appropriate voltages on its four terminals. With the purpose of dimension optimization, a numerical parametric study is executed. The modeled actuator which is 1560 ?m long, 156 ?m wide and 30 ?m thick, demonstrates a remarkable lateral displacement of 23 ?m at power... 

Minimum entropy control technique, an approach for controlling chaos without using the dynamical model of the system, can be improved by being combined with a nature-based optimization technique. In this paper, an ACO-based optimization algorithm is employed to minimize the entropy function of the chaotic system. The feedback gain of a delayed feedback controller is adjusted in the ACO algorithm. The effectiveness of the idea is investigated on suppressing chaos in the tapping-mode atomic force microscope equations. Results show a good performance. The PSO-based version of the minimum entropy control technique is also used to control the chaotic behavior of the AFM, and corresponding results... 

One of the recently developed approaches for control of chaos is the minimum entropy (ME) control technique. In this method an entropy function based on the Shannon definition, is defined for a chaotic system. The control action is designed such that the entropy as a cost function is minimized which results in more regular pattern of motion for the system trajectories. In this paper an online optimization technique using particle swarm optimization (PSO) method is developed to calculate the control action based on ME strategy. The method is examined on some standard chaotic maps with error feedback and delayed feedback forms. Considering the fact that the optimization is online, simulation... 

In this paper, a parametrically resonated MEMS gyroscope is considered, and the effect of its parameters on the system stability is studied. Unlike the general case of MEMS gyroscopes with harmonic excitation, in this new class of gyroscopes with parametric excitation, the origin is one stationary point of the system. The study starts with the stability analysis of the origin, and then it goes on to analyze the effect of each parameter on the stability of periodic orbits. Stabilities are studied by means of Floquet theory. As the results indicate, presence of a non-trivial response for the system is closely interconnected to the stabilities (and instabilities) of the system. It is... 

In this paper stabilizing unstable periodic orbits (UPO) in a chaotic fractional order system is studied. Firstly, a technique for finding unstable periodic orbits in chaotic fractional order systems is stated. Then by applying this technique to the fractional van der Pol and fractional Duffing systems as two demonstrative examples, their unstable periodic orbits are found. After that, a method is presented for stabilization of the discovered UPOs based on the theories of stability of linear integer order and fractional order systems. Finally, based on the proposed idea a linear feedback controller is applied to the systems and simulations are done for demonstration of controller performance... 

In tins paper, stabilizing the unstable periodic orbits (UPO) in a chaotic fractional order system called Van der Pol is studied. Firstly, a technique for finding unstable periodic orbit in chaotic fractional order systems is stated. Then by applying tins technique to the van der Pol system, unstable periodic orbit of system is found. After that, a method is presented for stabilization of the discovered UPO based on theories stability of the linear integer order and fractional order systems. Finally, a linear feedback controller was applied to the system and simulation is done for demonstration of controller performance  

A micro scale Timoshenko beam was modeled with strain gradient theory in "A micro scale Timoshenko beam model based on strain gradient elasticity theory" by Wang et al., European Journal of Mechanics - A/Solids, vol. 29, pp. 591-599, 7//2010. Looking at the modeling of the beam, a mistake in deriving the effect of classical moment has occurred. The classical boundary conditions of a Timoshenko beam could not be derived going backward from the strain gradient Timoshenko beam theory which has been presented in aforementioned paper. In this comment, the contradiction has been shown and the correct form of the boundary conditions and final equations has been derived  

The purpose of this paper is to present efficient and accurate analytical expressions for large amplitude free vibration analysis of single and double tapered beams on elastic foundation. Geometric nonlinearity is considered using the condition of inextensibility of neutral axis. Moreover, the elastic foundation consists of a linear and cubic nonlinear parts together with a shearing layer. The nonlinear governing equation is solved by employing the variational iteration method (VIM). This study shows that the second-order approximation of the VIM leads to highly accurate solutions which are valid for a wide range of vibration amplitudes. The effects of different parameters on the nonlinear... 

In this paper an approach based on system identification is used for fault detection in a nuclear reactor. A continuous-time Extended Kalman Filter (EKF) is presented, which allows the parameters of the nonlinear system to be estimated. Also a fault tolerant control system is designed for the nuclear reactor during power changes operation. The proposed controller is an adaptive critic-based neuro-fuzzy controller. Performance of the controller in terms of transient response and robustness against failures is very good and considerable  

Electrostatic torsional micromirrors, as instances of Micro Electro Mechanical Systems (MEMS), have many optical network applications; such as optical wavelength-selective switches, optical cross-connects, etc. For all these applications, the micromirror needs to have minimal overshoot and settling time in order to minimize the time between two successive switching operations. Moreover, the controllability and stability of a torsional micromirror are major challenges due to high nonlinearities in its dynamic characteristics. In this paper, a robust adaptive critic-based neurofuzzy controller is proposed for electrostatic torsional micromirrors, which can improve the performance of the mirror... 

In this paper, the problem of optimal tracking control for a container ship is addressed. The multi-input-multi-output nonlinear model of the S175 container ship is well established in the literature and represents a challenging problem for control design, where the design requirement is to follow a commanded maneuver at a desired speed. To satisfy the constraints on the states and the control inputs of the vessel nonlinear dynamics and minimize the heading error, a nonlinear optimal controller is formed. To solve the resulted nonlinear constrained optimal control problem, the Gauss Pseudospectral Method (GPM) is used to transcribe the optimal control problem into a Nonlinear Programming... 

During the drug delivery process in chemotherapy, both of the cancer cells and normal healthy cells may be killed. In this paper, three mathematical cell-kill models including log-kill hypothesis, Norton-Simon hypothesis and Emax hypothesis are considered. Three control approaches including optimal linear regulation, nonlinear optimal control based on variation of extremals and H∞-robust control based on μ-synthesis are developed. An appropriate cost function is defined such that the amount of required drug is minimized while the tumor volume is reduced. For the first time, performance of the system is investigated and compared for three control strategies; applied on three nonlinear models... 

In non-classical micro-beams, the strain energy of the system is determined by the non-classical continuum mechanics. In this study, we consider a closed-loop control methodology for suppressing the vibration of non-classical microscale Euler-Bernoulli beams with nonlinear electrostatic actuation. The non-dimensional form of the governing nonlinear partial differential equation of the system is introduced and converted into a set of ordinary differential equations using the Galerkin projection method. In addition, we prove the observability of the system and we design a state estimation system using the extended Kalman filter algorithm. The effectiveness and performance of the proposed... 

Kinematic control of a special hyper-redundant manipulator with lockable joints is studied. In this manipulator, the extra cables are replaced by a locking system to reduce the weight of the structure and the number of actuators. This manipulator has discrete and continuous variables due to its locking system. Therefore, a hybrid approach has been adopted in control. At first the forward kinematics and velocity kinematics of this manipulator are derived, and then a novel closed-loop control algorithm is presented. This algorithm consists of decision making, an inner loop controller, and kinematic calculation blocks. The decision making block is the logical part of the control scheme in which... 

A method for controlling chaos when the mathematical model of the system is unknown is presented in this paper. The controller is designed by the pole placement algorithm which provides a linear feedback control method. For calculating the feedback gain, a neural network is used for identification of the system from which the Jacobian of the system in its fixed point can be approximated. The weights of the neural network are adjusted online by the gradient descent algorithm in which the difference between the system output and the network output is considered as the error to be decreased. The method is applied on both discrete-time and continuous-time systems. For continuous-time systems,... 

The fusion of the optical and inertial tracking systems seems an attractive solution to solve the shadowing problem of the optical tracking systems, and remove the time integration troubles of the inertial sensors. We developed a fusion algorithm for this purpose, based on the Kalman filter, and examined its efficacy to improve the position and orientation data, obtained by each individual system. Experimental results indicated that the proposed fusion algorithm could effectively estimate the 2 seconds missing data of the optical tracker  

One of the recently developed approaches for control of chaos is the minimum entropy (ME) control technique. In this method an entropy function based on the Shannon definition, is defined for a chaotic system. The control action is designed such that the entropy as a cost function is minimized which results in more regular pattern of motion for the system trajectories. In this paper an online optimization technique using particle swarm optimization (PSO) method is developed to calculate the control action based on ME strategy. The method is examined on some standard chaotic maps with error feedback and delayed feedback forms. Considering the fact that the optimization is online, simulation... 

In this paper, a parametrically resonated MEMS gyroscope is considered, and the effect of its parameters on the system stability is studied. Unlike the general case of MEMS gyroscopes with harmonic excitation, in this new class of gyroscopes with parametric excitation, the origin is one stationary point of the system. The study starts with the stability analysis of the origin, and then it goes on to analyze the effect of each parameter on the stability of periodic orbits. Stabilities are studied by means of Floquet theory. As the results indicate, presence of a non-trivial response for the system is closely interconnected to the stabilities (and instabilities) of the system. It is... 

Due to international competition and strict limitations of standards regarding the noise level, investigation of gear vibration is of great importance. In this paper, nonlinear oscillations of spur gear pairs including the backlash nonlinearity is studied. Dynamic system is described through the classical single degree of freedom (SDOF) model in terms of dynamic transmission error (DTE). Using multiple scale method, forced vibration responses of the gear system including primary, super-harmonic and sub-harmonic resonances are investigated. In each case, the jump phenomenon and stability analysis are studied. In addition, the effect of dynamic and manufacturing parameters of the gear system...