Sharif Digital Repository

Large amplitude oscillation of the power transmission lines, which is also known as galloping phenomenon, has hazardous consequences such as short circuiting and failure of transmission line. In this article, to suppress the undesirable vibrations of the transmission lines, first the governing equations of transmission line are derived via mode summation technique. Then, due to the occurrence of large amplitude vibrations, nonlinear quadratic and cubic terms are included in the derived linear equations. To suppress the vibrations, arbitrary number of the piezoelectric actuators is assumed to exert the actuation forces. Afterwards, a Lyapunov based approach is proposed for the robust adaptive... 

In this paper design and evaluation of an adaptive critic-based neurofuzzy controller for the stabilizing periodic orbits of chaotic systems has been presented in detail. The main superiority of the proposed controller over previous analogous fuzzy logic controller design approaches, e.g., genetic fuzzy logic controller, is its online tuning characteristic and remarkable reduced amount of computations used for parameter adaptation, which makes it desirable for real time applications. Considering the simplicity of this controller and its independence from the system model, this control method has the advantage of online learning and control, and can be applied to a large variety of systems.... 

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

The main objective of this research was to introduce a smart assist-as-needed control system that helps elderly or partially paralyzed individuals. To ensure that a smart and compliant controller, in each cycle of the gait is developed, we adapted the target impedance gains and feed-forward force of the assistive mechanism according to a learning law. A strength metric was defined to determine when the human needs assistance. Then, a cost function was introduced and the gains are modified to reduce the cost function. Applying the proposed controller, the interaction force between patient's limb and robot was reduced in cases wherein user has sufficient strength for task execution and... 

Chatter suppression is of great importance in machining processes for achieving more material removal rate, high precision and surface quality. In this paper, an H∞ control algorithm is proposed for chatter suppression in the presence of tool wear and parameter uncertainties. Orthogonal turning process is modelled as a single degree of freedom model that includes the effect of tool flank wear. Control input of the system is the force provided by a piezo-actuator.The turning process model includes the uncertainties in cutting velocity, tool wear and dynamic model parameters. Using the μ-synthesis technique, an H∞ optimal controller is designed based on a DK-iteration algorithm. The... 

The fast growth of technologies most of which depend on natural sources of energy has resulted in a huge consumption of fossil fuels. In this regard, many solutions have been suggested to alleviate the side effects such as air pollution and global warming. Among these solutions, mobile storages like electric vehicles (EVs) and renewable generations, have grown significantly due to being more applicable. But uncoordinated operation and uncertain nature of these distributed energy resources (DERs) can bring forward new challenges and issues to the operators of power system. Thus, in many cases it is more efficient to co-operate them in a hybrid system. In this study, we address a virtual power... 

In this study, a novel approach based on a modified Kalman filter algorithm is presented to directly estimate and measure the surface topography of samples by trolling mode atomic force microscopy. Trolling mode atomic force microscopy was introduced as an atomic force microscopy alternative to overcome imaging problems in liquid environments by reducing the liquid-resonator interaction forces. In conventional imaging techniques, the time to reach the steady state periodic motion of the oscillating probe restricts scanning speed. To overcome this limitation, we propose a novel imaging technique for trolling mode atomic force microscopy based on the system dynamics model and using the... 

In this paper, a novel robust adaptive control method is proposed for controlling the well-known Lorenz chaotic attractor. Firstly, we design a new Backstepping controller for controlling the Lorenz system based on the Lyapunov stability theorem. The proposed method is different from the typical Backstepping control method and it can overcome the singularity problem appeared in using the typical Backstepping control method. So by exploiting the property of the system, the resulting controller is singularity free and the closed-loop system is stable globally. Since in practice we have not access to full information of the system states, we set the controller parameters in order to achieve a... 

Sea-level rise (SLR) influences groundwater hydraulics and in particular seawater intrusion (SWI) in many coastal aquifers. The quantification of the combined and relative impacts of influential factors on SWI has not previously been considered in coastal aquifers. In the present study, a systematic review of the available literature on this topic is first provided. Then, the potential remaining challenges are scrutinized. Open questions on the effects of more realistic complexities such as gradual SLR, parameter uncertainties, and the associated influences in decision-making models are issues requiring further investigation.We assess and quantify the seawater toe location under the impacts...