Sharif Digital Repository

In this paper application of ionic polymermetal composite (IPMC) as an actuator in a deformable circular robot is studied. Large bending deformation induced by small stimulating voltage, low stiffness and the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. Here, first a model for IPMC is proposed that can be used in simulating different arrangements of actuators. The parameters of the model are determined using results of blocked force and free displacement tests. Using this model, potentials of an IPMC-made ring-like robot in passing obstacles and the effect of the number of segments on the rings performance are... 

This paper describes an application of intelligence- based predictive scheme to load-frequency control (LFC) in a two-area interconnected power system. In this investigation, at first, a dynamic model of the present system has to be considered and subsequently an efficient control scheme which is organized based on Takagi-Sugeno-Kang (TSK) fuzzy-based scheme and linear generalized predictive control (LGPC) scheme needs to be developed. In the control scheme proposed, frequency deviation versus load electrical power variation could efficiently be dealt with, at each instant of time. In conclusion, in order to validate the effectiveness of the proposed control scheme, the whole of outcomes are... 

The main point of this paper is to present a time domain strategy for drug dosage to treat psychiatric disorders. A time domain model of emotion is obtained from an extension of a recently developed fractional nonlinear dynamic model of happiness. First, the Fractional Optimal Control law for incommensurate multi state systems is obtained. It will be then applied as an optimal drug administration procedure in the line of psychiatric disorders treatment. Results of this paper show that optimal control scheme is a proper approach to face the difficulties of analysis and control the incommensurate systems. It can be also clearly seen from the simulation results that this approach is very... 

High reliability against noise, low energy consumption and high performance are key objectives in the design of on-chip networks. Recently some researchers have considered the various trade-offs between two of these objectives. However, as we will argue later, the three design objectives should be considered jointly and simultaneously. The first aim of this paper is to analyze the impact of various error-control schemes on the simultaneous trade-off between reliability, performance and energy when voltage swing varies. We provide a detailed comparative analysis of the error-control schemes using analytical models and SPICE simulations. The second aim of this paper is to analyze the impact of... 

We have introduced a new low-Reynolds-number microrobot with high 3D maneuverability. Our novel proposed microrobot has a higher rank of the controllability matrix with respect to the previous microswimmers which makes it capable of performing complex motions in space. In this study, governing equations of the microswimmer's motion have been derived and simulated. Subsequently, we have proposed a cascade optimal control technique to control the swimmer trajectory. In the proposed control scheme, the actuation is provided in a way that an exponential stability on the system trajectory error as well as minimum fluctuations of control signals are achieved. © The Author(s), 2021. Published by... 

The purpose of this paper is to deal with a novel intelligent predictive control scheme using the multiple models strategy with its application to an industrial tubular heat exchanger system. The main idea of the strategy proposed here is to represent the operating environments of the system, which have a wide range of variation in the span of time by several local explicit linear models. In line with this strategy, the well-known linear generalized predictive control (LGPC) schemes are initially designed corresponding to each one of the linear models of the system. After that, the best model of the system and the LGPC control action are precisely identified, at each instant of time, by an... 

This paper presents a multi-model robust control scheme to control the depth of hypnosis during intravenous administration of propofol. The objective of the proposed control scheme is to provide an adequate drug administration regime for propofol to avoid overdosing and underdosing of patients. The proposed scheme is designed to withstand the patient's inherent drug response variability, to achieve good output disturbance and sensor noise rejection, and to attain a good set point response. A comprehensive simulation study of 44 patients is presented to assess the performance of the proposed control scheme. © 2017 Elsevier Ltd  

In this paper, a unified hybrid vector control of vector modulated VIENNA I rectifier is presented. Feedback linearization technique is used for the DC-link voltage control. For this purpose, at first a mathematical model of the VIENNA I rectifier is derived. Using this model, it is shown that the dynamic of the rectifier falls into two categories; linear inner dynamic which consists of inner current control and neutral-point potential control and nonlinear outer dynamic which consists of the DC-link voltage control. Based on these facts, a hybrid vector control scheme meaning linear vector control of inner dynamics and nonlinear vector control of outer dynamic is devised. Simulations... 

Purpose: The paper aims to address the combined attitude control and Sun tracking problem in a flexible spacecraft in the presence of external and internal disturbances. The attitude stabilization of a flexible satellite is generally a challenging control problem, because of the facts that satellite kinematic and dynamic equations are inherently nonlinear, the rigid–flexible coupling dynamical effect, as well as the uncertainty that arises from the effect of actuator anomalies. Design/methodology/approach: To deal with these issues in the combined attitude and Sun tracking system, a novel control scheme is proposed based on the adaptive fuzzy Jacobian approach. The augmented spacecraft model... 

The introduction of demand response concept, in addition to increment of penetration of distributed generation (DG) based on renewable energies, make opportunities for the novel control schemes to be integrated in power system on a smart grid framework. Voltage control methods in power systems needs proper coordination among reactive power resources and conventional volt/var control equipments. In this work, potential reactive power resources are investigated and then, reactive power output of renewable DG units and controllable loads along with operation of conventional voltage controllers are optimized using a centralized control scheme. Considering the variability of demand and... 

The vibration suppression of semi-actively controlled jacket-type offshore platforms using Magnetorheological (MR) dampers is studied. The main goal of using MR damper system is to reduce vibration caused by wave hydrodynamic forces. A fixed jacket-type offshore platform affected by wave-induced hydrodynamic forces and controlled by MR dampers is modelled as a semi-active controlled system with 30 DOFs. In comparison with earlier studies, an improvement in problem modelling is made. Based on the wave theory and Morison equation, an exosystem is designed to simulate regular wave forces. The necessary input voltage to MR dampers to generate desired damping force is derived by clipped optimal... 

Abstract This paper proposes a bumpless transfer method to overcome the problem of switching jumps in a scheduled robust model predictive control approach. A scheduled robust model predictive controller implements a set of local robust model predictive controllers based on an on-line switching strategy. This method could enlarge the domain of attraction efficiently but the transient response might be hampered by spikes appearing at the moment of switching between adjacent local controllers. The proposed algorithm could enhance the transient response by implementing some intermediate controllers augmented to the main control scheme to solve the problem without needing more computation. The... 

The paper presents a novel vector control structure for the Brushless Doubly-Fed Machine (BDFM) which is derived based on the machine synchronous operation. In fact, the synchronous operation of the BDFM provides an efficient approach for determining the required reference angle in the machine vector control structure. The utilization of such reference angle makes the vector control structure presented in this paper different from and, in fact, more effective than the existing rotor flux and stator flux orientation schemes proposed for the machine. The results of implementing the vector control scheme in simulations confirm the effectiveness of the proposed approach for the BDFM control  

This paper proposes a high performance voltage tracking and current sharing among parallel connected inverters by applying optimal control and minimizing the cost function. The control system forces the voltage of load to track the voltage reference, and the current of all inverters becomes equal. Therefore, both current sharing and voltage tracking are obtained. In addition, the smallest input energy and simplicity in control circuit are the other advantages of the suggested method. To show the performance of the proposed control scheme, the simulations with two-modular practical systems are performed and the results are provided. The results indicate that the control objectives are... 

In a linear accelerator, driven by radio frequency (RF) amplifier stations, one must precisely control the energy gain of the accelerating beam. The RF stations can be viewed as amplifiers placed sequentially to accelerate the beam. This brief presents two control schemes within which the RF stations act as actuators, and a centralized control unit controls the beam energy by acting either on the RF amplitudes or on the RF phases. The control algorithms are based on convex optimization problems with different objectives. The two approaches are successfully tested at the SwissFEL injector test facility using three full-scale RF stations. The two methods are compared from both performance and... 

The aim of this study is to develop a non-linear robust controller with adaptive gains in order to prevent malaria epidemic as a positive system with an uncertain model. The malaria outbreak is modelled by seven non-linear coupled differential equations for the population variables: susceptible, exposed, symptomatic infected and recovered humans and the susceptible, exposed and infected mosquitoes. The non-linear robust adaptive integral-sliding-mode controller is developed in order to appropriately adjust the use of treated bednets, treatment rate of infected individuals and the use of insecticide spray to control malaria epidemic. Accordingly, the numbers of exposed and infected humans and... 

In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved  

In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved  

In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecifled position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme