per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
1
15
article
Gyroscope Drift Error Analysis in the Position-Independent Navigation Algorithm of a stable platform Inertial System
Mohammad Ghesmati
mohammadghesmati@yahoo.com
1
Jafar Heyrani Nobari
nobari@eetd.kntu.ac.ir
2
Mohammadreza Arvan
arvan@mut.ac.ir
3
Abdorreza Kashaninia
akashaninia@aut.ac.ir
4
Malek-Ashtar University of Technology
K. N. Toosi University of Technology
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
This paper deals with analyzing gyroscope drift error in the position-independent navigation algorithm of a stable platform inertial system. Most of the stable platform navigation algorithms proposed in the literature have drawbacks of estimating position rates for alignment commands. Not only the estimating position rates are the basic source of position errors, but they also make the alignment commands and their implementation more complicated. The major advantage of the proposed design is that the angular velocity commands of gyroscopes are independent of the system position and are proportional to accelerations’ integrals, all of which eliminate, the errors resulted from the estimation of the longitude and latitude rates. In this paper, the stable platform system is modeled, and plate alignment procedure is determined and the initial conditions of navigation phase are calculated. In stationary conditions, the position error propagation for the fixed gyroscope drift is obtained analytically. The position error of the proposed algorithm propagates linearly with time, while in the strapdawn algorithm; this error propagates as the cube of time.
http://joc.kntu.ac.ir/article-1-569-en.pdf
gyroscope drift
navigation algorithm
stable platform inertial system
position error propagation
alignment.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
17
25
article
Design of optimal central guidance of an underwater vehicle in the modeled ship wake
Alireza Basohbat Novinzadeh
novinzadeh@kntu.ac.ir
1
Mojtaba Asadi matak
masadimatak@mail.kntu.ac.ir
2
Department of Aerospace Engineering, Khaje Nasir Toosi University of Technology
Department of Aerospace Engineering, Khaje Nasir Toosi University of Technology
The purpose of this paper is to provide a new algorithm for guidance of an underwater vehicle to reach its target, and demonstrate its effectiveness by simulation with a computer code. The meant of target in here is to chase a ship on the surface of the water. In order to do this, one of the most effective methods is to follow the ship wake which produced behind it. Disadvantages of wake guidance can be mentioned as zigzag motion for rediscovering the wake in its path which according to the decreasing linear speed of approaching the target, sometime it doesn't reach the target and collision fails. Therefore, various ideas, with both positive and negative aspects, have been introduced to improve movement in the wake path. In this paper, a new guidance algorithm for running an underwater vehicle at the center of wake, which is named central guidance, is introduced that results an optimal path that by using geometric bases, determining the center of the wake in guidance phase like a central line. Then, using the optimal least effort method, the path to central line is presented. Also, to test this method, the wake of a ship is modeled and programmed and its code is used in the guidance program to simulate the performance of this method.
http://joc.kntu.ac.ir/article-1-548-en.pdf
Guidance
Optimal
Underwater vehicle
Wake
Central guidance.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
27
33
article
Sensor Fault Detection for a class of Uncertain Nonlinear Systems Using Sliding Mode Observers
Farideh Allahverdi
allahverdi.f@gmail.com
1
Amin Ramezani
ramezani@modares.ac.ir
2
Mehdi Forouzanfar
mehdi.forouzanfar@yahoo.com
3
This paper deals with the issues of sensor fault detection for a class of Lipschitz uncertain nonlinear system. By definition coordinate transformation matrix for system states and output system, at first the original system divided into two subsystems. The first subsystem includes uncertainties but without any sensor faults and the second subsystem has sensor faults but is free of uncertainties. Then sensor faults in second subsystem are formed as actuator faults. For the aim of fault detection (FD) two sliding mode observers are designed for two subsystems. Stability condition is obtained based on Lyapunov approach. The necessary matrices and parameters to design observers are obtained by solving linear matrix inequality (LMI) problem. Finally, simulation example is given to illustrate the effectiveness proposed approach.
http://joc.kntu.ac.ir/article-1-583-en.pdf
fault detection
Lipschitz
nonlinear system
sliding mode observer
LMI
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
35
45
article
Backward and forward path following control of a wheeled robot
Ali Keymasi Khalaji
keymasi@khu.ac.ir
1
Abolfazl Yazdani
abolfazlyazdani71@yahoo.com
2
Kharazmi University
Kharazmi University
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ability to control the backward and forward motions of the tractor-trailer robot. To this end, first the kinematic equations of a wheeled robot with a trailer is extracted and then reference paths for the robot are defined. Path following equations, in addition to the robot mathematical equations, also represent the robot movement with respect to the reference path. Then, by using transformations the system equations are expressed in a new space and subsequently a control algorithm is proposed for the system. The investigated control law make the system asymptotically stable around the reference path. Finally, obtained results have been presented which guarantee the designed controller.
http://joc.kntu.ac.ir/article-1-572-en.pdf
Wheeled mobile robot
Asymptotic stability
Backward motion.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
47
61
article
Dynamic Simulation and Control of the Demethanizer Unit in Natural Gas Refining Plant
Bijan Medi
medi@hut.ac.ir
1
Hamid Bakuei Katrimi
bakoei.hamid@gmail.com
2
Department of Chemical Engineering, Hamedan University of Technology
Department of Chemical Engineering, Hamedan University of Technology
The NGL refinery of the Sirri Island has a major role in the production of high-value products. One of the most important refinery units is the demethanizer unit, comprising of a complex network of distillation towers and heat exchangers. In the first step, using the Aspen Hysys software, a proper steady state model was developed for this unit in which the simulation of the main equipment that is, distillation towers and heat exchangers were carried out. The steady state simulation results are in good agreement with the data gathered from the real plant. Then, the simulation was transferred from steady state to dynamic mode in which the main equipment such as distillation towers and control valves were sized. Here, the available controllers which are currently present in the real plant, were added to the simulation. Using the auto tuning variation (ATV) method and by considering the desired behavior namely, stability, fast response, and absence of oscillation, the overall performance of the controllers were examined under different scenarios. Based on the results, it was identified that with carefully tuning the controllers parameters, much better performance can be achieved.
http://joc.kntu.ac.ir/article-1-525-en.pdf
Dynamic simulation
Hysys
Demathanizer unit
Distillation tower
LNG heat exchanger
ATV method
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
63
77
article
A Robust Controller with Online Authority Transformation for Dual User Haptic Training System
Mohammad Motaharifar
motaharifar@email.kntu.ac.ir
1
Hamid Taghirad
taghirad@kntu.ac.ir
2
Seyed-Farzad Mohammadi
sfmohammadi@tums.ac.ir
3
K. N. Toosi University
K. N. Toosi University
Tehran University of Medical Sciences
In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer is able to interfere into the procedure in case of observing any deviation on the part of trainee and correct the probable mistakes. To transform the task authority between the trainer and the trainee, the hand force of the trainer is reflected to the hands of the trainee. Utilizing the haptic system, the position of the trainee is transformed to the hands of the trainer, thus the trainer has necessary information regarding the current position of the surgical operation. Stabilizing controllers are developed for each haptic console. The stability of the closed loop system is analyzed using the Input-to-State Stability (ISS) approach. The simulation results confirmed the appropriate performance of the proposed structure.
http://joc.kntu.ac.ir/article-1-581-en.pdf
Robotics
Haptic System
Surgery Training
Robust Control.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
79
87
article
Finite time stabilization of time-delay nonlinear systems with uncertainty and time-varying delay
Elahe Moradi
e.moradi@iausr.ac.ir
1
Yadegar-e-Imam Khomeini (RAH) Shahre- Rey Branch, Islamic Azad University, Tehran, Iran
In this paper, the problem of finite-time stability and finite-time stabilization for a specific class of dynamical systems with nonlinear functions in the presence time-varying delay and norm-bounded uncertainty terms is investigated. Nonlinear functions are considered to satisfy the Lipchitz conditions. At first, sufficient conditions to guarantee the finite-time stability for time-delay nonlinear system with uncertainties and based on the Lyapunov approach is presented. In the following, sufficient conditions to ensure finite time stabilization the considered system with state feedback are presented. In the proofs of proposed theorems are used from the appropriate Lyapunov-Krasovskii function and newton-Libniz-formula that can reduce the conservative. Also, all of the obtained conditions in this paper are delay-dependent and presented as linear matrix inequalities .Finally, the numerical examples and simulations exhibit the effectiveness of the proposed methods.
http://joc.kntu.ac.ir/article-1-589-en.pdf
Finite-time stabilization
Time-varying delay
Linear matrix inequalities
Nonlinear function
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-06
14
2
89
99
article
Designing of a Control Approach for Uncertain Fractional Order Systems with Indirect Adaptive Fuzzy Controller and Frational Order Sliding Mode
Pouria Jafari
pjafari@ece.usb.ac.ir
1
Mohammad Teshnehlab
teshnehlab@eetd.kntu.ac.ir
2
Mahsan Tavakoli-Kakhki
matavakoli@eetd.kntu.ac.ir
3
Faculty of Electrical and Computer Engineering, Sistan and Baluchestan University
Faculty of Electrical Engineering, K.N. Toosi University of Technology
Faculty of Electrical Engineering, K.N. Toosi University of Technology
Todays according to the noticeable growth of the fractional order calculus in engineering sciences, this field has converted to a beloved context for researchers especially Control engineers. There have been designed various fractional order control methods accordingly. Also, it has been proved that adaptive fuzzy controllers are capable of controlling uncertain systems with disturbance if necessary, conditions have been provided. For this reason, in this paper, an indirect adaptive TSK fuzzy controller with fractional order sliding mode control is introduced to control a certain class of nonlinear fractional order systems. The fractional order stability of the closed-loop system is studied and based on a fractional order Lyapunov function candidate; fractional order adaptation laws are obtained. The fractional order adaptation law is proposed to adjust the free parameters in the consequence part of the adaptive TSK system. In addition, a robust adaptive law is proposed to reduce the influence of approximation error between true system functions and TSK fuzzy controller. Hence, using the fractional order Lyapunov theorem, the Mittag-Leffler stability of the closed-loop system is guaranteed. The numerical simulation shows validity and effectiveness of the introduced control strategy for fractional order nonlinear models that perturbed by disturbance and uncertainty.
http://joc.kntu.ac.ir/article-1-584-en.pdf
Adaptive TSK Fuzzy controller
Fractional order sliding mode
and Uncertain Fractional order systems.