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    Free chattering synchronization of two Lur'e differential inclusions with sector input nonlinearity

    , Article 2014 IEEE Conference on Control Applications ; 2014 , PP. 1035-1040 ; ISBN: 9781479974092 Abooee, A ; Haeri, M ; Sharif University of Technology
    Abstract
    This paper deals with the synchronization of two Lur'e differential inclusions containing sector nonlinearity. Lyapunov stability theorem is employed to design the control inputs. The controllers are designed considering three important practical features in physical systems. First, differential equation part of the Lur'e differential inclusion is assumed to be convex. Second, it is presumed that parameters of the Lur'e differential inclusion are not completely known. Third, sector nonlinearities are considered on control inputs applied to the Lur'e differential inclusions. To assess performance and effectiveness of the proposed controllers, synchronization of two rotor dynamic systems is... 

    Synchronizing two different fractional order hyperchaotic systems using generalized fractional order sliding mode control

    , Article Proceedings of 2011 2nd International Conference on Instrumentation Control and Automation, ICA 2011, 15 November 2011 through 17 November 2011, Bandung ; 2011 , Pages 125-129 ; 9781457714603 (ISBN) Abooee, A ; Haeri, M ; Sharif University of Technology
    2011
    Abstract
    Synchronization of two fractional order hyperchaotic systems considering uncertainties and sector nonlinear inputs is investigated in this paper. A new fractional order sliding mode control scheme is proposed to synchronize two different fractional order hyperchaotic systems in the presence of uncertainties, sector nonlinearity in the control inputs. The stability of the error dynamics is proven using Lyapunov stability theorem. Simulation results are provided to verify the feasibility and effectiveness of the proposed synchronizing method  

    Adaptive control strategy for treatment of hepatitis C infection

    , Article Industrial and Engineering Chemistry Research ; Volume 58, Issue 33 , 2019 , Pages 15262-15270 ; 08885885 (ISSN) Zeinali, S ; Shahrokhi, M ; Sharif University of Technology
    American Chemical Society  2019
    Abstract
    In this work, an efficient treatment strategy for hepatitis C disease using interferon (IFN) has been proposed on the basis of the back-stepping control technique. The basic model of the hepatitis C virus (HCV) has been considered for controller design. To tackle the problem of model parameter variations, the adaptive version of the back-stepping method has been utilized. For applying the proposed treatment, all states should be available while only the viral load is measured. To solve this problem, a nonlinear Luenberger-like observer has been designed to estimate the unmeasured states. In the proposed treatment, limitation of the drug efficacy has been taken into account. Asymptotical... 

    Observer-based control design for three well-known chaotic systems

    , Article Chaos, Solitons and Fractals ; Volume 29, Issue 2 , 2006 , Pages 381-392 ; 09600779 (ISSN) Mahboobi, S. H ; Shahrokhi, M ; Pishkenari, H. N ; Sharif University of Technology
    2006
    Abstract
    In this paper, a singularity-free approach is proposed for controlling three well-known chaotic systems namely Lorenz, Chen and Lu. The control design guarantees the regulation of two states and boundedness of the remaining state. The stability of the proposed scheme has been shown using the Lyapunov stability theorem. Implementation of the proposed control technique requires system states, while in most of practical applications only the system output is available. To overcome this problem, a nonlinear observer is coupled with the controller. Simulation results have illustrated the effectiveness and robustness of the proposed schemes. If the control action is applied to the second system... 

    Identification and adaptive control of the uncertain lorenz system

    , Article 2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005, Orlando, FL, 5 November 2005 through 11 November 2005 ; Volume 74 DSC, Issue 2 PART B , 2005 , Pages 1105-1111 ; 0791842169 (ISBN); 9780791842164 (ISBN) Pishkenari, H. N ; Shahrokhi, M ; Sharif University of Technology
    2005
    Abstract
    In this paper an identification method which can estimate the unknown parameters of a general nonlinear system based on three techniques (gradient, least-squares and rapid identification) has been developed. The stability of the proposed schemes has been shown using the Lyapunov stability theorem. The properties of each identification technique have been discussed briefly. Open loop identification of the Lorenz chaotic system is presented to show the effectiveness of the proposed approach. To illustrate the efficiency of the identification method for control purposes, it has been applied for controlling the well-known Lorenz system. By exploiting the property of the system a novel... 

    Stabilisation of commensurate fractional-order polytopic non-linear differential inclusion subject to input non-linearity and unknown disturbances

    , Article IET Control Theory and Applications ; Volume 7, Issue 12 , 2013 , Pages 1624-1633 ; 17518644 (ISSN) Abooee, A ; Haeri, M ; Sharif University of Technology
    2013
    Abstract
    In this study, a fractional-order adaptive-sliding mode control (SMC) scheme is proposed to stabilise commensurate fractional-order polytopic non-linear differential inclusion systems containing sector and dead-zone nonlinearities in the control inputs and unknown bounded disturbances. The suggested control method is composed of fractional-order sliding surfaces, adaptive-SMC inputs and adaptation laws for unknown bounds of disturbances. The Lyapunov stability theorem is used to prove the stability of the closed-loop system. A practical system and two numerical examples are simulated to show the effectiveness and performance of the proposed control technique  

    Vibration suppression of a strain gradient microscale beam via an adaptive lyapunov control strategy

    , Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 138, Issue 3 , 2016 ; 00220434 (ISSN) Nojoumian, M. A ; Vatankhah, R ; Salarieh, H ; Sharif University of Technology
    American Society of Mechanical Engineers (ASME)  2016
    Abstract
    Vibration suppression of a strain gradient Euler-Bernoulli beam in presence of disturbance and uncertainties is considered in this investigation. Vibration of the system is suppressed by an adaptive boundary controller which has robustness to the environmental and control effort disturbances. The direct Lyapunov stability theorem is used to design the controller and adaptation law. The numerical results are presented to demonstrate the effectiveness of the proposed controller. Copyright © 2016 by ASME  

    Adaptive robust control of fractional-order swarm systems in the presence of model uncertainties and external disturbances

    , Article IET Control Theory and Applications ; Volume 12, Issue 7 , 2018 , Pages 961-969 ; 17518644 (ISSN) Naderi Soorki, M ; Tavazoei, M. S ; Sharif University of Technology
    Institution of Engineering and Technology  2018
    Abstract
    This study investigates the asymptotic swarm stabilisation of fractional-order swarm systems in the presence of two different kinds of model uncertainties and external disturbances while the upper bound of the uncertainties is a linear function of pseudo-states norms with unknown coefficients. To this end, first a fractional-integral sliding manifold is constructed and then an adaptive-robust sliding mode controller is designed to guarantee the asymptotic swarm stability in a fractional-order linear time-invariant swarm system. The stability analysis of the proposed control system is done based on the Lyapunov stability theorem. Using the proposed controller, the coefficients of the upper... 

    Modeling and control for cooperative transport of a slung fluid container using quadrotors

    , Article Chinese Journal of Aeronautics ; Volume 31, Issue 2 , 2018 , Pages 263-273 ; 10009361 (ISSN) Sayyadi, H ; Soltani, A ; Sharif University of Technology
    Chinese Journal of Aeronautics  2018
    Abstract
    In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method. Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously.... 

    Control of malaria outbreak using a non-linear robust strategy with adaptive gains

    , Article IET Control Theory and Applications ; Volume 13, Issue 14 , 2019 , Pages 2308-2317 ; 17518644 (ISSN) Rajaei, A ; Vahidi Moghaddam, A ; Chizfahm, A ; Sharifi, M ; Sharif University of Technology
    Institution of Engineering and Technology  2019
    Abstract
    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... 

    Observer-based singularity free nonlinear controller for uncertain systems subject to input saturation

    , Article European Journal of Control ; Volume 52 , 2020 , Pages 49-58 Zeinali, S ; Shahrokhi, M ; Sharif University of Technology
    Elsevier Ltd  2020
    Abstract
    In this work, design of an observer-based nonlinear controller for a class of single input-single output (SISO) systems in the general strict feedback form subject to input saturation based on the back-stepping technique has been addressed. A full order adaptive observer is constructed to estimate the unknown states and system parameters simultaneously. The proposed control scheme is singularity free and can handle the input nonlinearity. Asymptotical stability of the closed-loop system in the presence of observer dynamics and input saturation has been established by the Lyapunov stability theorem. The effectiveness of the proposed controller is illustrated by applying the proposed scheme to... 

    Designing nonlinear observer for topography estimation in trolling mode atomic force microscopy

    , Article JVC/Journal of Vibration and Control ; 2021 ; 10775463 (ISSN) Sajjadi, M ; Chahari, M ; Pishkenari, H. N ; Vossoughi, G ; Sharif University of Technology
    SAGE Publications Inc  2021
    Abstract
    In this study, a nonlinear observer for high-speed estimation of the sample surface topography in a small duration of the probe transient motion utilizing a 2DOF model of TR-AFM is proposed. Since the time duration to reach the steady-state periodic motion of the oscillating probe in conventional imaging methods is relatively high, the proposed nonlinear observer in this research is able to address this limitation and estimate the surface topography throughout transient oscillation of the microcantilever. With this aim, topography estimation process utilizing a Thau observer without any linearization of the system dynamics is designed and coupled with the system dynamics to achieve sample... 

    Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope

    , Article ISA Transactions ; Vol. 52, Issue 6 , 2013 , pp. 900-911 Fazlyab, M ; Pedram, M. Z ; Salarieh, H ; Alasty, A ; Sharif University of Technology
    Abstract
    This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via... 

    Adaptive impedance control of UAVs interacting with environment using a robot manipulator

    , Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Oct , 2014 , p. 636-641 Sayyaadi, H ; Sharifi, M ; Sharif University of Technology
    Abstract
    In this paper, a nonlinear adaptive impedance controller is proposed for UAVs equipped with a robot manipulator that interacts with environment. In this adaptive controller, by considering the nonlinear dynamics model of the UAV plus the robot manipulator in Cartesian coordinates, all of model parameters are considered to be completely uncertain and their estimation is updated using an adaptation law. The objective of the proposed adaptive controller is the control of manipulator's end-effector impedance in Cartesian coordinates to have a stable physical interaction. The adjustable Cartesian impedance is a desired dynamical relationship between the end-effector motion in Cartesian... 

    Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope

    , Article ISA Transactions ; Volume 52, Issue 6 , 2013 , Pages 900-911 ; 00190578 (ISSN) Fazlyab, M ; Pedram, M. Z ; Salarieh, H ; Alasty, A ; Sharif University of Technology
    2013
    Abstract
    This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via... 

    Nonlinear robust adaptive Cartesian impedance control of UAVs equipped with a robot manipulator

    , Article Advanced Robotics ; Volume 29, Issue 3 , Feb , 2015 , Pages 171-186 ; 01691864 (ISSN) Sharifi, M ; Sayyaadi, H ; Sharif University of Technology
    Robotics Society of Japan  2015
    Abstract
    In this paper, a new nonlinear robust adaptive impedance controller is addressed for Unmanned Aerial Vehicles (UAVs) equipped with a robot manipulator that physically interacts with environment. A UAV equipped with a robot manipulator is a novel system that can perform different tasks instead of human being in dangerous and/or inaccessible environments. The objective of the proposed robust adaptive controller is control of the UAV and its robotic manipulators end-effector impedance in Cartesian space in order to have a stable physical interaction with environment. The proposed controller is robust against parametric uncertainties in the nonlinear dynamics model of the UAV and the robot... 

    Stable nonlinear trilateral impedance control for dual-user haptic teleoperation systems with communication delays

    , Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 139, Issue 12 , 2017 ; 00220434 (ISSN) Sharifi, M ; Salarieh, H ; Behzadipour, S ; Tavakoli, M ; Sharif University of Technology
    Abstract
    A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during... 

    Nonlinear adaptive impedance control of virtual tool-tissue interaction for use in endoscopic sinus surgery simulation system

    , Article 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 66-71 ; 9781509032228 (ISBN) Ebrahimi, A ; Sadeghnejad, S ; Vossoughi, G ; Moradi, H ; Farahmand, F ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2017
    Abstract
    In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed control strategy and convergence of tracking error are proved by using Lyapunov Stability Theorem. Two different scenarios are considered for simulation studies including a declining contact force and also an oscillatory contact force between the user hand and the haptic interface device.... 

    Robust adaptive sliding mode admittance control of exoskeleton rehabilitation robots

    , Article Scientia Iranica ; Volume 25, Issue 5B , 2018 , Pages 2628-2642 ; 10263098 (ISSN) Torabi, M ; Sharifi, M ; Vossoughi, Gh ; Sharif University of Technology
    Sharif University of Technology  2018
    Abstract
    A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide the patient with compliance during interaction with the rehabilitation robot. The stability of the proposed controller and the... 

    Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

    , Article IET Control Theory and Applications ; Volume 12, Issue 12 , 2018 , Pages 1722-1729 ; 17518644 (ISSN) Sharifi, M ; Salarieh, H ; Behzadipour, S ; Tavakoli, M ; Sharif University of Technology
    Abstract
    A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the...