Sharif Digital Repository

In this paper, the development of a controller for autonomous lateral alignment of fixed-wing Unmanned Aerial Vehicles (UAVs) with runway centerline in landing phase is presented. Fuzzy Logic Control (FLC) is used in order to enable the vehicle to mimic the decision making procedure that a pilot follow in the same situation. Also, for longitudinal motion controller design for the UAV to follow a pre-defined trajectory, the pole-placement technique is used. It is assumed that the runway relative position and orientation are provided by a built in vision system and its associated image processing unit. The performance of the controller in the presence of the Gaussian noises is investigated by... 

This paper proposes a high performance voltage tracking and current sharing among parallel connected inverters by applying optimal control and minimizing the cost function. The control system forces the voltage of load to track the voltage reference, and the current of all inverters becomes equal. Therefore, both current sharing and voltage tracking are obtained. In addition, the smallest input energy and simplicity in control circuit are the other advantages of the suggested method. To show the performance of the proposed control scheme, the simulations with two-modular practical systems are performed and the results are provided. The results indicate that the control objectives are... 

Recorded ground accelerations at various locations of Karun III Dam during November 20, 2007, were recorded by an array of accelerometers located on the dam. In terms of amplitude and phase, these accelerations show non-uniformities in different elevations. In this paper, the effect of these non-uniform ground motions on the seismic response of the dam taking dam-reservoir-foundation interaction into account is investigated. The EACD-3D-2008 finite element program and ABAQUS Software are used for carrying out the seismic analyses. For this purpose, time histories of the earthquake accelerations are interpolated at nodal points located on the dam foundation interface. The analysis has been... 

Thermal analysis of Roller Compacted Concrete (RCC) dams is generally carried out considering identical ambient boundary conditions at upstream and downstream faces. For the case of Shahri-Kor Dam (an RCC dam with a height of 57 m), recorded thermal data depicts a considerable difference between upstream and downstream ambient temperatures, especially during cold months. This paper investigates how taking this difference into account can affect the thermal response of the dam. For this purpose, two thermal analyses are carried out with and without consideration of these different ambient boundary conditions (DABC). Consequently, the computed temperatures at representative points are compared... 

This paper studies the scheduling problem in transit networks in order to decrease transfer waiting time. Transfer waiting time is calculated based on headway and departure time of intersecting routes and is divided into two parts. The first part can be reduced by changing departure times and was studied by the authors previously. The focus of the present research, however, is to minimize the second part of the transfer waiting time, dependent on the headways. The proposed optimization model in this paper includes both parts and is a nonlinear mathematical programming model. The model is decomposed to the departure time setting model (DSM) and the headway setting model (HSM). A solution... 

Representing nonlinear systems by linear models along with structured or unstructured uncertainties and applying robust control strategies could reduce the computational complexity in comparison with implementing the nonlinear model predictive controllers. In this paper design of robust model predictive controllers which are based on special classes of nonlinear systems representations called Wiener and Hammerstein are presented. The proposed algorithms approximate the nonlinear systems by uncertain linear models and reduce online the computational demands in the control implementation. The advantages of the proposed approaches are illustrated by two examples  

Abstract This paper proposes a bumpless transfer method to overcome the problem of switching jumps in a scheduled robust model predictive control approach. A scheduled robust model predictive controller implements a set of local robust model predictive controllers based on an on-line switching strategy. This method could enlarge the domain of attraction efficiently but the transient response might be hampered by spikes appearing at the moment of switching between adjacent local controllers. The proposed algorithm could enhance the transient response by implementing some intermediate controllers augmented to the main control scheme to solve the problem without needing more computation. The... 

This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be... 

Sectionalizing switches (SSs) are installed in distribution networks to provide ring and maneuver points, thereby increasing service reliability. These switches are either manual switches (MSs) or remote controlled switches (RCSs). The switches are usually assumed to be fully reliable. However, in practice, their performance is not always ideal. Actually, the switches may sometimes experience malfunction, which reduces their ability to enhance system reliability. The present study proposes a model to consider the malfunction possibility of the switches in their optimal placement problem. The model helps to minimize the total costs of SSs as well as the interruption costs incurred by... 

In this paper, it is shown that some spikes exist in power spectral density (PSD) of ultra-wideband-time-hopping-pulse-position-modulation (UWB-TH-PPM) transmitted signal. Analytical and numerical simulation results show that these spikes severely degrade UWB-TH-PPM system bit-error-rate performance and must be properly removed. This paper proposes a novel multi-access scheme that uses both direct-sequence (DS) and time-hopping (TH) multi-access schemes to remove these harmful spikes. Analytical and numerical simulation results show that the proposed scheme removes the spikes from the PSD of the UWB-TH-PPM transmitted signal and yields better performance. In this paper, the performance of... 

Industrial processes are inherently nonlinear with input, state, and output constraints. A proper control system should handle these challenging control problems over a large operating region. The robust model predictive controller (RMPC) could be an linear matrix inequality (LMI)-based method that estimates stability region of the closed-loop system as an ellipsoid. This presentation, however, restricts confident application of the controller on systems with large operating regions. In this paper, a dual-mode control strategy is employed to enlarge the stability region in first place and then, trajectory reversing method (TRM) is employed to approximate the stability region more accurately.... 

A model has been proposed to capture the complex strain rate effect on dynamic precipitation of GP zones in an age-hardenable aluminum alloy. The contributions of vacancies and dislocations to dynamically formed GP zones have been specified in the model. It has been demonstrated that the proposed model is capable for predicting the contribution of each dynamic precipitation mechanisms, accurately, which are acting during deformation. Furthermore, the vacancy and dislocation evolutions during deformation have been considered in this modeling. The effect of strain rate by considering different mechanisms of dynamic precipitation of GP zones has been studied and confirmed by experimental data... 

Microstructure and mechanical properties of AA2024 after severe plastic deformation (SPD) and non-isothermal annealing were investigated. The non-isothermal treatment was carried out on the severely deformed AA2024, and the interaction between restoration and precipitation phenomena was investigated. Differential scanning calorimetry, hardness and shear punch tests illustrate that static recovery and dissolution of GPB zones/Cu–Mg co-clusters occur concurrently through non-isothermal annealing. Scanning electron microscope and electron backscatter diffraction illustrate that non-isothermal annealing of deformed AA2024 up to 250 °C promotes the particle-free regions and also particle...