Sharif Digital Repository

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... 

This study addresses the robust stability analysis for an islanded microgrid with droop-controlled inverter-based distributed generators (DGs). Owing to large load changes, microgrid structure reconfiguration, and higher-power demands, the low-frequency (LF) dominant modes of a microgrid stir toward unstable zone and make the system more oscillatory or even unstable. In this study, a robust two-degree-of-freedom (2DOF) decentralised droop controller, which is the combination of the conventional droop with a robust transient droop function, is utilised for each inverter-based DG unit. Unlike conventional tuning of 2DOF droop controllers, a new design procedure is proposed to robustly... 

Active behavior in skeletal muscle soft tissue is affected by electrical, chemical and mechanical parameters. More realistic model of skeletal muscle demands detailed formulation which is able to involve other parameters in addition to mechanical ones. In this paper a new formulation for considering Ca2+ level (as the most important chemical factor) along with mechanical parameters in force producing process of skeletal muscle is introduced and validated comparing simulated results with some experimental data. Prepared skeletal muscle behavior is able to predict the maximum generated force in muscle according to the concentration of intracellular Ca2+ level and muscle contraction velocity...