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input-output-linearization
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Proposing a Control Strategy for Treatment of Hepatitis C Disease
, M.Sc. Thesis Sharif University of Technology ; Shahrokhi, Mohammad (Supervisor)
Abstract
Due to the importance of hepatitis disease, especially hepatitis C, from public health view point, this research aims to investigate and suggest an efficient medical therapy for this disease. First, available models are analyzed and the suitable one is chosen. Three controllers namely, fixed PI, adaptive PI and exact linearization control (GLC) are designed to control the hepatitis C disease using the drug efficacy as the manipulated variabel. Controller parameters are determined by the Genetic Algorithm (GA) and their performances are evaluated using the selected model. Uncertainties have been considerd in both model structure and parameters and controllers performances are investigated in...
Comparison between backstepping and input-output linearization techniques for pH process control
, Article Journal of Process Control ; Volume 22, Issue 1 , 2012 , Pages 263-271 ; 09591524 (ISSN) ; Shahrokhi, M ; Mehrabani, A ; Sharif University of Technology
Abstract
In this work performances of adaptive backstepping controller (BSC) and globally linearizing controller (GLC) are compared for pH control. First, based on the system full order model a GLC has been designed and it has been shown that this controller is identical to BSC proposed in the literature. Next in order to avoid state estimator design, BSC and GLC are designed based on pH reduced order model and their identities have been established. Through computer simulations, it has been shown that the performance of non-adaptive GLC designed based on reduced order model is better than that of adaptive BSC designed based on pH full order model which requires state measurement for implementation....
Estimation of muscle force with EMG signals using Hammerstein-Wiener model
, Article IFMBE Proceedings, 20 June 2011 through 23 June 2011 ; Volume 35 IFMBE , June , 2011 , Pages 157-160 ; 16800737 (ISSN) ; 9783642217289 (ISBN) ; Khorsandi, R ; Farzampour, S ; Zahedi, E ; Sharif University of Technology
2011
Abstract
Estimation of muscle force is needed for monitoring or control purposes in many studies and applications that include direct human involvement such as control of prosthetic arms and human-robot interaction. A new model is introduced to estimate the force of muscle from the EMG signals. Estimation is based on Hammerstein-Wiener Model which consists of three blocks. These blocks are used to describe the nonlinearity of input and output and linear behavior of the model. The nonlinear network is designed base on the sigmoid network. The introduced model is trained by some data sets which are recorded from different people and tested by some other data sets. The simulation results show low error...
Determination of ship maneuvering hydrodynamic coefficients using system identification technique based on free-running model test
, Article Scientia Iranica ; Volume 23, Issue 5 , 2016 , Pages 2154-2165 ; 10263098 (ISSN) ; Seif, M. S ; Mehdigholi, H ; Sharif University of Technology
Sharif University of Technology
2016
Abstract
In the recent years, different mathematical models have been suggested for maneuvering of displacement vessels that are capable of estimation of vessel maneuvers with acceptable precision. These mathematical models are based on determined hydrodynamic coefficients and their accuracy depends on the known coefficients used to solve the mathematical model. System identification methods are developed to calculate these coefficients utilizing input and output data obtained from different sources. In this research, a 4.36-m model of KRISO Container Ship (KCS) displacement vessel has been manufactured by fiberglass, and the maneuver turning tests have been carried by self-propulsion method. A...
Control of nonholonomic mobile manipulators for cooperative object transportation
, Article Scientia Iranica ; Vol. 21, issue. 2 , 2014 , p. 347-357 ; Babaee, M ; Sharif University of Technology
Abstract
In this paper, a methodology for transporting objects with a group of wheeled nonholonomic mobile manipulators is presented. A full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using the Gibbs-Appell method. Since the dynamical equations of a mobile robot are highly nonlinear, an input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps. First, the robots use a decentralized behavior-based method to approach and surround the object. Then, a virtual structure method is used to control the robots to transport the object cooperatively. A numerical simulation study...
Chaos control in lateral oscillations of spinning disks via nonlinear feedback
, Article Nonlinear Analysis: Real World Applications ; Volume 10, Issue 5 , 2009 , Pages 2864-2872 ; 14681218 (ISSN) ; Sadeghian, H ; Merat, K ; Sharif University of Technology
2009
Abstract
In this paper the problem of chaos control in single mode lateral oscillations of spinning disks is studied. At first, using the harmonic balance method, one of the periodic orbits of system is evaluated. Then proposing a nonlinear feedback strategy a control law is presented for chaos elimination by tracking the mentioned periodic solution. It is shown that although the system is not input-state feedback linearizable, by defining an output signal and using the input-output linearization method, the objective of complete periodic orbit tracking is achieved. The sufficient condition for this purpose is presented, and the performance of proposed method is examined by numerical simulation. ©...