Sharif Digital Repository

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... 

The transverse free vibration of a class of variable-cross-section beams is investigated using the Wentzel, Kramers, Brillouin (WKB) approximation. Here the governing equation of motion of the Euler-Bernoulli beam including axial force distribution is utilized to obtain a singular differential equation in terms of the natural frequency of vibration and a WKB expansion series is applied to find the solution. Based on this formulation, a closed form solution is obtained for determination of natural vibration mode shapes and the corresponding frequencies. The first four terms of this asymptotic solution are simplified for homogenous beams to give a compact third-order WKB approximation. Next,... 

An extended finite element method has been proposed for modeling crack in orthotropic media. To achieve this aim a discontinuous function and two-dimensional asymptotic crack-tip displacement fields are used in a classical finite element approximation enriched with the framework of partition of unity. It allows modeling crack by standard finite element method without explicitly defining and re-meshing of surfaces of the crack. In this study, fracture properties of the models are defined by the mixed-mode stress intensity factors (SIFs), which are obtained by means of the domain form of the interaction integral (M-integral). Numerical simulations are performed to verify the approach, and the... 

Most existing methods for satellite attitude control assume that full knowledge of satellite attitude is available by algebraic manipulation of at least two vector measurements from attitude sensors such as Sun, Earth-horizon, Earth-magnetic or star tracker sensors. Kalman filtering is usually used when only one vector measurement is available, however, asymptotic stability of nonlinear and uncertain dynamics of satellite is not guaranteed in this case. This technical note presents a coupled nonlinear estimator-controller for satellite attitude determination and control by using a 3-axis gyro and a single vector measurement for a fully actuated satellite. We assume that the moment-of-inertia... 

This paper presents an analytical approach to design a continuous time-invariant two-level control scheme for asymptotic stabilization of a desired period-one trajectory for a hybrid model describing walking by a planar biped robot with noninstantaneous double-support phase and point feet. It is assumed that the hybrid model consists of both single- and double-support phases. The design method is based on the concept of hybrid zero dynamics. At the first level, parameterized continuous within-stride controllers, including single- and double-support-phase controllers, are employed. These controllers create a family of 2-D finite-time attractive and invariant submanifolds on which the dynamics... 

In this paper, a new model reference adaptive controller (MRAC) for uncertain switched linear systems is developed. A class of uncertain switched linear systems with parametric mismatched and input matched uncertainties, control input effectiveness and unmodeled dynamics is studied in this paper. The difference in input matrix for different switching modes which means the input channel degradation is investigated through this paper. By using common Lyapunov function method and developing new linear matrix inequality based sufficient conditions, uniform ultimate boundedness of the reference tracking error is guaranteed by switched MRAC and by using a novel nonlinear controller term, the size... 

In this paper, the planar maneuver of a flexible satellite with regard to its flexible appendages vibration has been studied. The flexible satellite translates and rotates in a plane; in addition, the flexible appendages can also vibrate in that plane. The system governing equations, which are coupled partial and ordinary differential equations, are obtained based on Hamilton's principle. Then the original system converts to three equivalent subsystems, two of which contains one partial differential equation and one ordinary differential equation along with four boundary conditions, by using change of variables. Employing control forces and one control torque which are applied to the central... 

In this research, we have investigated the planar maneuver of a flexible satellite with appendages anti-symmetric vibration. The hybrid governing equations are comprised of coupled partial and ordinary differential equations which are derived by employing Hamilton's principle. In this paper, control goals are the tracking desired pitch angle along with the flexible appendages vibration suppression simultaneously by using only one control torque which is applied to the central hub. The boundary control is proposed to fulfill these control aims; furthermore, this boundary control ensures that spillover instability phenomenon is eliminated, and in-domain sensors and actuators implement are... 

One of the methods of force/moment exertion on micro beams is utilizing piezoelectric actuators. In this paper, considering the effects of the piezoelectric actuator on asymptotic stability achievement, the boundary control problem for the vibration of a clamped-free micro-cantilever Timoshenko beam is addressed. To achieve this purpose, the dynamic equations of the beam actuated by a piezoelectric layer laminated on one side of the beam are extracted. The control law was implemented so that vibrations of the beam could be decayed. This control law was achieved based on feedback of time derivatives of boundary states of the beam. The obtained control was applied in the form of piezoelectric... 

In this paper a new approach is developed to stabilize descriptor systems with time-delay, while time-delay can belong to a given interval. This approach takes the advantages of system's singularity to simplify the model and uses the so-called Rekasius substitution to compute the controller parameters in a way that the asymptotic stability of the closed-loop system in the given interval of the delay can be guaranteed. Finally, a numerical example is provided to evaluate the proposed method's effectiveness. © 2017 IEEE  

In this paper, an adaptive control scheme, based on fuzzy logic systems, for pH control is addressed. For implementation of the proposed scheme no composition measurement is required. Stability of the closed-loop system is established and it is shown that the solution of the closed-loop system is uniformly ultimately bounded and under a certain condition, asymptotical stability is achieved. Effectiveness of the proposed controller is tested through simulation and experimental studies. Results indicate that the proposed controller has good performances in set-point tracking and load rejection and much better than that of a tuned PI controller. © 2009 Elsevier Ltd. All rights reserved  

This paper deals with the stabilization of the feasible equilibrium point of a special class of nonlinear quadratic systems known as Lotka-Volterra (LV) systems, in the presence of interval uncertainty via a fixed linear state feedback (FLSF). It is well known that for a linear time-invariant system with interval uncertainty, stability at the vertices of a polytope implies stability in the interior of the whole polytope. It has been shown that this idea can be extended to examine the stability of LV systems in the presence of interval uncertainty, recently. In fact, it has been proved that in spite of nonlinear nature of the system, stability at a special vertex guarantees stability at all... 

This paper proposes event-triggered rules for stabilizing the equilibrium point of a class of nonlinear systems, on the basis of indefinite Lyapunov theory. Unlike the traditional event-triggered control methods, which have been constructed based on the Lyapunov theory, the timederivative of the corresponding Lyapunov function can be positive in some time periods by using the proposed eventtriggered rules. For a class of uncertain nonlinear systems with matched uncertainty, the proposed event-triggered controller guarantees that the trajectories of the system tend to an arbitrary small neighborhood of the equilibrium point of the system. Numerical examples confirm the obtained analytical... 

This paper proposes event-triggered rules for stabilizing the equilibrium point of a class of nonlinear systems, on the basis of indefinite Lyapunov theory. Unlike the traditional event-triggered control methods, which have been constructed based on the Lyapunov theory, the timederivative of the corresponding Lyapunov function can be positive in some time periods by using the proposed eventtriggered rules. For a class of uncertain nonlinear systems with matched uncertainty, the proposed event-triggered controller guarantees that the trajectories of the system tend to an arbitrary small neighborhood of the equilibrium point of the system. Numerical examples confirm the obtained analytical... 

This brief proposes event-Triggered rules for stabilizing the equilibrium point of a class of nonlinear systems, on the basis of indefinite Lyapunov theory. Unlike the traditional event-Triggered control methods, which have been constructed based on the Lyapunov theory, the time-derivative of the corresponding Lyapunov function can be positive in some time periods by using the proposed event-Triggered rules. For a class of uncertain nonlinear systems with matched uncertainty, the proposed event-Triggered controller guarantees that the trajectories of the system tend to an arbitrary small neighborhood of the equilibrium point of the system. Numerical examples confirm the obtained analytical... 

In this article, an adaptive nonlinear controller is designed to synchronize two uncertain fractional-order chaotic systems using fractional-order sliding mode control. The controller structure and adaptation laws are chosen such that asymptotic stability of the closed-loop control system is guaranteed. The adaptation laws are being calculated from a proper sliding surface using the Lyapunov stability theory. This method guarantees the closed-loop control system robustness against the system uncertainties and external disturbances. Eventually, the presented method is used to synchronize two fractional-order gyro and Duffing systems, and the numerical simulation results demonstrate the... 

This paper presents an investigation of the dynamics of two coupled non-identical FitzHugh-Nagumo neurons with delayed synaptic connection. We consider coupling strength and time delay as bifurcation parameters, and try to classify all possible dynamics which is fairly rich. The neural system exhibits a unique rest point or three ones for the different values of coupling strength by employing the pitchfork bifurcation of non-trivial rest point. The asymptotic stability and possible Hopf bifurcations of the trivial rest point are studied by analyzing the corresponding characteristic equation. Homoclinic, fold, and pitchfork bifurcations of limit cycles are found. The delay-dependent stability...