Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
Multi-Objective Optimization of a QoS-Aware Channel Allocation in Cognitive Radio Networks using NSGA-II Algorithm
1
9
FA
Hooman
Razavi
hrazavi@ee.kntu.ac.ir
N
Abdorasoul
Ghasemi
arghasemi@kntu.ac.ir
Y
In this paper the QoS-aware channel allocation problem formulated as an optimization problem with two conflicting objectives; spectrum utilization and fairness among secondary users (SUs) subject to channel availabilities constraints. Any possible channel allocation which could be a solution of the optimization problem, encoded as a binary chromosome. By having coded available spectrum opportunities instead of all channel-user combinations, the search space is significantly reduced. Designing the QoS-aware channel assignment scheme is based on NSGA-II Algorithm to find the optimum allocation of these two objectives jointly and finally the set of Pareto optimal solutions achieved by proposed algorithm in discrete space of feasible solutions. Simulation results demonstrate the trade-off between spectrum utilization and fairness and the Pareto optimum points. Binary Integer Programming (BIP) confirms the results of the proposed evolutionary scheme in small-scale instances while our scheme outperforms BIP method significantly in computational for large-scale ones.
Binary Integer Programming, Cognitive radio, NSGA-II Algorithm, Multi-Objective Optimization, QoS-Aware Channel Assignment, Spectrum Opportunities.
http://joc.kntu.ac.ir/article-1-293-en.html
http://joc.kntu.ac.ir/article-1-293-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
A Nonlinear Optimal Multivariable Controller Design for Trajectory Tracking of Non-Holonomic Mobile Robots
11
18
FA
hossein
Mirzaeinejad
Shahid Bahonar university of Kerman
h_mirzaeinejad@uk.ac.ir
Y
Ali Mohamad
shafei
Shahid Bahonar university of Kerman
shafei@uk.ac.ir
N
In this paper, a predictive approach is applied to design a nonlinear multivariable controller to generate trajectory tracking control commands of non-holonomic robots. In this method, the nonlinear responses of the mobile robot are predicted using Taylor series. The optimal control laws are analytically developed by minimizing the difference between the predicted and the desired responses of the system outputs. The obtained control laws lead to the feedback linearization. Here, the nonlinear kinematics model of mobile robot is used for design of the controller and simulations. The performed analyses along with the simulation results indicate that the designed controller can successfully track the reference trajectories with high performance in different maneuver conditions.
Nonholonomic mobile robot, Nonlinear control, Prediction, Trajectory tracking
http://joc.kntu.ac.ir/article-1-362-en.html
http://joc.kntu.ac.ir/article-1-362-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
Bounded Adaptive Control of Uncertain Nonlinear Teleoperation with Actuators Saturation and Asymmetric Varying Time Delays
19
25
FA
soheil
Ganjefar
Bu Ali Sina University
s_ganjefar@basu.ac.ir
Y
sara
Rezaei
Bu Ali Sina University
sara_r759@yahoo.com
N
Farzad
Hashemzadeh
Tabriz university
farzad.hashemzadeh@ualberta.ca
N
In this paper, adaptive controller is proposed for bilateral teleoperation systems with parametric uncertainties, asymmetric time-varying delays in their communication channel and sandwich linearity in their actuators. The proposed bounded adaptive approach is a nonlinear-Proportional plus nonlinear Damping (nP+nD) controller which nonlinear adaptive terms are also employed locally to cope with the parametric uncertainties. The designed controller has the ability to deal with parameter variations in the dynamics of the master and slave robots . The proposed controller also guarantees asymptotic stability and position tracking and avoiding the inputs to reach their usual actuator bounds. The asymptotic stability and tracking performance of the teleoperation system are proved using a Lyapunov-Krasovskii functional. The effectiveness of the proposed method is corroborated through simulation results.
Nonlinear Teleoperation, Asymmetric Time-varying Delay, Actuator Saturation, Asymptotic Stability, Bounded Adaptive Control
http://joc.kntu.ac.ir/article-1-369-en.html
http://joc.kntu.ac.ir/article-1-369-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
Control of a Heterogeneous Platoon of Vehicles with Actuator Lag, Communication Delay and Switched Interaction Topology:
Constant Spacing and Constant Time Headway Policies
27
37
FA
Hossein
Chehardoli
KNT
hchehardoli@gmail.com
Y
Mohammad reza
homaienezhad
KNT
mrhomaienezhad@kntu.ac.ir
N
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This paper investigates the control problem of a heterogonous vehicular platoon with time-varying interaction topology, communication delay and actuator’s lag. For each vehicle, a neighbor based linear control law using relative position and relative velocity between vehicles is considered. Two new approaches based on Lyapunov-Razumikhin theorem are presented to perform the internal stability analysis of the resultant switched linear time delay system. It is shown that the closed-loop dynamic is globally asymptotically stable under arbitrary switching. It means that the heterogeneous platoon of vehicles is internal stable under switching action. In continuance of paper, a new theorem is presented to obtain conditions on controller gains satisfying the string stability of heterogeneous platoon. Simulation results are provided to show the effectiveness of the proposed approaches.
Heterogeneous platoon, Communication delay, Actuator lag, Lyapunov-Razumikhin, String stability
http://joc.kntu.ac.ir/article-1-419-en.html
http://joc.kntu.ac.ir/article-1-419-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
A New Optimization Based Method for Estimation and Spatial Localization of Lung’s Air Volume from 3D CT Images
39
50
FA
Hadi
Moghadas-Dastjerdi
Isfahan University of Technology
h.moghadas@ec.iut.ac.ir
N
Mohammad Reza
Ahmadzadeh
Isfahan University of Technology
ahmadzadeh@cc.iut.ac.ir
Y
Mehdi
Karami
Isfahan University of Medical Sciences
m_karami@med.mui.ac.ir
N
Farzin
Ghiasi
Isfahan University of Medical Sciences
farzinghiasi@yahoo.com
N
Abbas
Samani
Western University
asamani@uwo.ca
N
Lung’s air volume estimation is of great importance in lung disease diagnosis. In this paper a fully automatic algorithm, which we presented recently to estimate the lung’s air volume from CT-images, is more developed. In this algorithm, first a suitable cost function is introduced based on the long parenchyma physics to determine the voxels of lung’s air region. In this paper, a fully automatic framework is proposed to calculate the initial guess for the solution of the optimization problem. Moreover, a 3D model reconstruction technique is utilized to determine spatial localization of the lung’s air region in 3D CT-images. Furthermore, the performance of the whole-lung-volume-based methods and direct lung’s air volume measurment methods are compared and investigated. In order to evaluate the accuracy, porcine’s lung images and clinical human’s lung images from reliable databases are fed to the proposed algorithm. The significant accuracy and robust performance of the proposed algorithm is illustrated with respect to the resolution reduction of CT-images.
Optimization, air volume estimation, lung, partial volume effect, CT images.
http://joc.kntu.ac.ir/article-1-384-en.html
http://joc.kntu.ac.ir/article-1-384-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
11
1
2017
6
1
Robust Control of Symmetrical Six-Phase Induction Machine Under Open-phase Fault Condition Based on ADRC
51
60
FA
Ali
Hajary
Shahid Chamran Universityof Ahvaz
alihajary@gmail.com
Y
Reza
Kianinezhad
Barkhat Institute of Higher Education
reza.kiani@scu.ac.ir
N
seyed ghodratolah
seyfossadat
Shahid Chamran Universityof Ahvaz
Seifossadat@yahoo.com
N
Alireza
Saffarian
Shahid Chamran Universityof Ahvaz
a.saffarian@scu.ac.ir
N
Seyed seidolah
Mortazavi
Shahid Chamran Universityof Ahvaz
mortazavi_s@scu.ac.ir
N
Control methods for multi-phase machine drives under open-phase fault condition are commonly designed to achieve minimum torque ripple. These methods are usually based on machine fault model. Therefore, it is highly model dependant. In this article, a new robust control method for six-phase induction motors (SPIM) under open-phase fault condition is proposed. Design of ADRC is independent of the controlled system model and machine parameters. This method has been proposed for the first time for multi-phase machines in the post-fault situation. There is no need to change control structure for post-fault operation and machine control in faulty condition is carried out without need to fault detection. Performace of ADRC in healthy and faulty situations are compared with PI and resonant (dual PI) controllers. Simulation results on a six-phase induction motor are presented for verification of the proposed control scheme. It can be seen the six-phase induction motor drive shows better performance when it works with ADRC in both healthy and faulty operation modes.
Robust Control, Six-phase Induction Motor, Open Phase Fault, PI Controller, Resonant Controller, ADRC
http://joc.kntu.ac.ir/article-1-387-en.html
http://joc.kntu.ac.ir/article-1-387-en.pdf