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Modeling and Control of a Fish Robotic System Using Hardware in the Loop Methodology
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and...
Design and Implementation of Control Algorithm to Carry a load By Segway Robot
, M.Sc. Thesis Sharif University of Technology ; Bagheri Shouraki, Saeed (Supervisor)
Abstract
Recently, many investigations have been devoted to problems of controlling mobile-wheeled inverted pendulum (MWIP) models, which have been widely applied in the field of autonomous robotics and intelligent vehicles. The MWIP models are not only of theoretical interest but are also of practical interest. Many practical systems have been implemented that were based on the MWIP models, such as the JOE, the Segway, etc. Among these applications, the Segway PT has been a popular personal transporter, since it was invented in 2002 Such systems are characterized by the ability to balance on its two wheels and spin on the spot. This additional maneuverability allows them to easily navigate on...
Control of Shoulder Exoskeleton System through its Musclo-skeletal Model
,
M.Sc. Thesis
Sharif University of Technology
;
Jahed, Mehran
(Supervisor)
Abstract
Due to the increasing average age of societies, daily monitoring of the elderly activities is. Even activities such as sitting, getting up and lifting may be beyond the normal ability of an older person. In this context, the need to provide appropriate assistive devices for welfare and normal activities of this age group is raised. In addition, self managed rehabilitation activities which may be performed at home or work without direct involvement of a physician or physiotherapist is yet another reason where such devices may be of importance. For this purpose, specially devised robots may be utilized to accompany and couple with the upper or lower extremities as an assistive or...
Fuzzy adaptive sliding mode control for a class of uncertain nonlinear MIMO systems with application to a 2DOF twin propeller
, Article Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) ; Vol. 2715 , 2003 , Pages 500-507 ; ISSN: 03029743 ; Bolandhemat, H ; Tehrani, N.D ; Sharif University of Technology
Abstract
A practical design method is presented which used the fuzzy logic advantages in adaptation of sliding mode control. The combined Fuzzy Adaptive Sliding Control (FASC) is designed in such a way to enhance satisfactory sliding performance and robustness with good level of chattering alleviation. The design approach is valid for a class of nonlinear uncertain MIMO systems. This control algorithm does not require the system model. A supervisory term is appended to the controller to assure the stability of fuzzy sliding mode control through Lyapunov theory. The design approach has been applied to a 2DOF twin propeler system with large uncertainty. Simulation results verified effectiveness of...