Sharif Digital Repository

The main concept of this thesis is to simulate, develop, and analyze the performance of force control method by applying to a Unimate MK-II hydraulic manipulator. In this investigation, simulation studies are based on the concept of impedance control technique. Position-based formulation of impedance control is employed. First in this research, a PID controller is employed and is shown to be capable of performing position control task precisely despite the fact that inertia, joint stiction, valve deadband and other nonlinearities are presented. Although trajectory tracking is performed well after several investigations, we have concluded that the impedance control cannot perform a desirable... 

The issue under discussion in this paper is to optimize the fuel consumption of the Toyota Prius hybrid car. In order to solve this problem, the ADVISOR design model used by NREL in the Matlab / Simulink environment has been used. Various parts of this model are described. The optimization performed on this issue is based on the emotional controller. This controller works by simulating learning in animals based on encouraging and punishing them. With the introduction of the controller, the model and its inclusion in the fuel consumption control and its implementation have achieved good results. In the initial state and the controller in the model, the fuel consumption was 4.9 liters per 100... 

Moving towards a sustainable energy system in the evolving society requires the utilization of new applications like Electrical Vehicles (EVs) and integration of Renewable Energy Sources (RESs) which will make new challenges for today’s power grids. To address these challenges, it is essential for emerging demand control paradigm to not only adapt the required demand with available supply but also consider the comfort and the level of lifestyle each customer may have in practice. In this research, due to the ever-growing interconnectivity of the grids, a distributed Commodity Market (CM) framework is proposed in which intelligent agents embedded in Demand Control Entity (DCE) units in... 

This thesis studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this thesis, after deriving dynamic model of the robot, the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE’s involved in the method of controlled lagrangian. Satisfactory controller’s gains are chosen by PSO algorithm. Feasibility of the developed controller is investigated by numerical simulations and finally, theoretical results are validated with experimental observations  

Satelites formation which is a specic spatial conguration of satellites, is of great importance in design and control of satellite systems. Reducing the required power to maintain that conguration, while imposing complicated dynamics on the system, connecting satelites through tethers has recently attracted researchers' attention. Developing a new model based on which the motion of the satellite formation will be expressed through simple equations, followed by the study of how the tether length control participates in the orientation control of the system, are the principal aims of current research. First, a new model is proposed for a group of tethered satellite for- mations, and based on... 

One of the main objectives in operating a power system is to maintain the system voltage properly to avoid equipment damage and transfer power efficiently. Automatic control of transmission network voltage provides significant improvements in security, quality and efficiency of power system operation. This thesis investigates coordinated voltage control of power systems in normal, alert and emergency states. The aim is to propose a comprehensive framework for real-time operation of practical power systems, ensuring secure operation of the system in the normal state and after occurrence of sever contingencies.
At the first, a new coordinated voltage control scheme is proposed to ensure... 

Load frequency control (LFC) is one of the important control problems in interconnected power system design and operation, and is becoming more significant today because of the increasing size, changing structure, emerging new uncertainties, environmental constraints and the omplexity of power systems. Therefore, load frequency function requires increased performance and flexibility to ensure that it is capable of maintaining a generation-load balance, following serious disturbances.Real power systems are often large-scale systems which are composed of many interacting subsystems. Therefore, it is difficult to control such systems due to the required inherent computational complexities and... 

This paper presents a robust adaptive backstepping control design for TREX-600 helicopter with flapping dynamics and dynamic uncertainties in the presence of Dryden wind gust. A nonlinear dynamic model is used to design the controller to let the helicopter track pre-defined time-varying waypoints and heading angles. In order to use the recursive design, the helicopter’s dynamic model is divided into three subsystems, such as altitude subsystem, yaw subsystem and horizontal subsystem. Adaptive backstepping method combines backstepping control and adaptation laws to deal with parameters uncertainties are designed for each sybsytem considering the coupling effects. The global asymptotic... 

Marine offshore structures are huge structures constructed in very harsh environments, like oceans and seas. These structures are highly exposed vibration due to ocean’s waves, wind, helicopter landing, etc. Preventing the damage to these structures due unpredicted vibration using a semi active vibration control is being considered. Magnetrorehological (MR) dampers have been used as active element to control the vibration and to provide the structural integrity of the structure. Providing high dynamic range, lower power requirements, large force capacity, robustness, and safe manner operation in case of fail made the MR dampers attractive devices to passive, semi-active and active control... 

This project is intended to introduce a semi-active control for suspension systems of passenger cars wherein, in addition to usual dampers, the damper using Magnetorheological (MR) fluid instead of ordinary oil is used. In order to model the suspension system, a mass-spring model with eight degree-of-freedoms without considering the effect of car velocity is developed. A semi-active vibration control is presented to reduce the amplitude of automotive vibration caused by the alteration of road profile. In order to design a suitable control mechanism, first, an optimal control algorithm, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG), are used to control the system;... 

Due to the inherent non-linear nature of the MR damper, an intelligent non-linear neuro-fuzzy control strategy is designed for control of wave-induced vibration of an offshore steel jacket platform equipped with MR dampers. In the proposed control system, a dynamic-feedback neural network is employed to model non-linear dynamic system and the fuzzy logic controller is used to determine the control forces of MR dampers. Required voltages and actual forces of MR dampers are obtained by use of two feedforward neural networks, in which the first neural network and second one act as the inverse and forward dynamics model of the MR dampers, respectively. The most important characteristic of the... 

This thesis is presented to introduce a semi-active control of the suspension systems. The currently available semi-active damper technologies can be divided into two main groups. The first uses controllable electromagnetic valves and the second uses Magnetorheological (MR) fluid to control the damping characteristics of the system. A mass-spring model with eleven degrees of freedom, considering constant velocity for the car, is developed to model the suspension system. A semi-active vibration control system is presented to reduce the amplitude of automotive vibrations caused by the alteration of the road profile. The gravel road profile with Gaussian white noise as the road irregularity... 

The present study discusses the problem of enabling a PUMA 560 electrical robot manipulator to interact with the environment using impedance control concept. The impedance control strategy maintains a pre-specified desired second order dynamic relation between the end-effector position and force and enables a stable transmission between unconstrained and constrained motion. In this study Position-Based Impedance Control (PBIC) is used which is more suitable for industrial manipulators. PBIC requires a position controller with high accuracy. Therefore, a nonlinear PID controller is used in the position loop which is capable of both tracking and regulating of the input signals and shows better... 

In this paper, controlling the cutting force of an end-milling process using a supervisory fuzzy controller has been investigated. The proposed control consists of an ordinary fuzzy controller and a fuzzy supervisor. In a machining process, there are several parameters which do not contribute to the force control system directly. Therefore an ordinary fuzzy force controller is suitable when these parameter have only small amount of variations. Since in practice this assumption is not valid, then a supervisory fuzzy controller has been added to the system. The designed fuzzy supervisor, inspects the dynamic behavior of the cutting force, estimates a pre-defined ‘sensitivity’ parameter and... 

• Brachiation robot is a kind of under-actuated robots. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. The purpose of this thesis is control of a two link Brachiation robot. The purpose of this thesis is control of a two link Brachiation robot using neural network and geometry control. For this purpose a genetic algorithm based training Neural Network is used to produce a suitable path for the second link of the robot and then using input-output linearization method, the second link is controlled to follow the path. The simulations shows that the Nero Controller designed in this thesis is suitable. The controller can... 

Concerns about fossil fuels and the consequent effects of burning such fuels on the environment have drawn attention of different countries around the world to the development of renewable energy systems, and it has encouraged researchers to focus on expanding the methods of using different sources of renewable energy. One of the most important renewable energies is wind energy, which is generated by wind turbines. A cluster of wind turbines forms a wind farm. Wind turbines can be equipped with a supervisory control system that sends the data measured by the sensors to the operator. Design of supervisory control algorithm for a wind farm requires a model of the wind farm system. The task of... 

Nowadays, thin film alloy deposition has much importance. These alloys are used for various opto-electronic device applications such as liquid crystal displays, flat panel displays, plasma displays, solar cells and computer memories. Exact control of elements ratio in alloy is one of the important issues in deposition of thin film alloys. In alloy deposition with electron beam gun method from its elements, uniformity improvement of each layer is a way to maintain elements ratio in different parts of sample. This uniformity has much importance especially in optical coatings such as high quality antireflection coatings, highly selective filters and low loss reflectance coatings. In this... 

Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems is confined to a relatively small cube, which severely limits the application of this technology. In addition, most of the previously given mechanisms require the design and application of a subsystem in order to unify their magnetic field. In this paper, a moving magnet is proposed which results in a horizontally extendable workspace; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system... 

In recent years, autonomous unmanned aerial vehicles (UAVs) have attracted considerable amount of interest because of a wide area of applications and a lot of advantages. UAVs have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Quadrotor, which is a kind of rotary wing UAVs, has many advantages such as the vertical take-off and... 

The precise positioning of magnetic catheters is critical for a range of medical procedures, ensuring efficacy while minimizing potential complications. This research delves into the position control of a magnetic catheter influenced by an external permanent magnet. Due to the intricate and complex equations describing the plant's behavior, a neural network approach was deemed suitable for modeling. Using a 5 degree of freedom manipulator carrying an external permanent magnet, data was gathered from real-world positionings, tracking the coordination of the magnetic catheter's end. These data points served to train the neural network, subsequently allowing for an effective simulation of the...