per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
1
11
article
Design of nonlinear parity approach to fault detection and identification based on Takagi-Sugeno fuzzy model and unknown input observer in nonlinear systems
Hamed Tolouei
htolouei@mail.kntu.ac.ir
1
Mahdi Aliyari Shoorehdeli
aliyari@kntu.ac.ir
2
K. N. Toosi university of Technology
K. N. Toosi university of Technology
In this study, a novel fault detection scheme is developed for a class of nonlinear system in the presence of sensor noise. A nonlinear Takagi-Sugeno fuzzy model is implemented to create multiple models. While the T-S fuzzy model is used for only the nonlinear distribution matrix of the fault and measurement signals, a larger category of nonlinear systems is considered. Next, a mapping to decouple fault and measurement noise will be used in each fuzzy subsystems. Then, an unknown input observer is implemented to estimate the states of the subsystems subjected to measurement noise. To guarantee asymptotic stability of error dynamic, quadratic Lyapunov function using bilinear matrix inequality is introduced. Finally, the nonlinear parity approach will be used to generate residual to detect and estimate occurred fault(s) in the system. A simulation study on the train system is presented to demonstrate the efficiency of the proposed method.
http://joc.kntu.ac.ir/article-1-641-en.pdf
fault detection
nonlinear system
nonlinear matrix inequalities
unknown input observer
TS fuzzy model
mapping.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
13
21
article
Design and Implementation of a Control System for a DC Servomechanism with an Internal Dither Created by a Limit Cycle
Amir Imanpour Ghiehbashi
amir.imanpour@gmail.com
1
Mohammad Reza Arvan
arvan@mut.ac.ir
2
Yousef Koohmaskan
ykoohmaskan@chmail.ir
3
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
Purpose of this paper is designing of a positional angle control system for a DC servomechanism. The servomechanism system consists of a direct current (DC) motor, a motor driver, a measuring sensor, and a control board to adjust angular position. The motor in the servomechanism has a non-linear element called dead-zone. Presence of dead-zone causes the nonlinear behavior of system. Injecting a high frequency signal called dither to input of nonlinear element is a method to reduce the nonlinear effects in that system. There are two approaches of injecting dither to system, the first is generating dither and injecting independently and the second is generating dither by creating a limit cycle. In this paper, a relay and an appropriate controller are exploited to create a limit cycle with adjustable amplitude and frequency in the servomechanism system. This limit cycle generates an internal dither in the system. The frequency of limit cycle is adjustable by determining controller coefficients. Finally, according to the simulation results, the servomechanism was implemented practically and the validation is performed.
http://joc.kntu.ac.ir/article-1-596-en.pdf
Servomechanism
Dither Signal
Limit Cycle
DC Motor
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
23
41
article
Designing of P controller to obtain desired time domain scenario of the output
Mahdieh Hosseingholizadeh Alashti
mah.gholizadeh@gmail.com
1
Jafar Heyrani Nobari
nobari@eetd.kntu.ac.ir
2
K.N.T.U. university of technology
K.N.T.U. university of technology
One of the most applicable and simple controllers, which always attracts the researcher's attention to obtain a proper closed-loop performance, is the P controller. Proper performance of a system defined in the presence of controller has been proposed with different expressions like rising time, settling time and maximum overshoot. But in the view of this paper, the proper performance of the system is the output's specific value at predefined times and it determines the controller gains at time intervals. In reality, a scenario is considered for the output which defines output's values at several times .These times make time intervals and variable gains in these intervals must be applied to the system. To ensure the existence of the P controller gains for this purpose, the output value must be in an admissible range at any specific time. In this paper, this admissible range is obtained for different cases of a system parameter and initial value. Also, controller gain in some admissible ranges wasn't unique and each choice of it has its specific properties. Since in the present paper, this work is done with initial values, we can properly switch between several P controllers in some phases to achieve a predefined scenario of the output in the time domain.
http://joc.kntu.ac.ir/article-1-586-en.pdf
scenario of system output in time domain
corresponding gain of desired output value
time variable P controller.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
43
51
article
Fuzzy Adaptive Control of Unmanned Aerial Vehicle for Carrying Time-Varying Cargo on Predefined Path
Vahab Nekoukar
v.nekoukar@sru.ac.ir
1
Nima Mahdian Dehkordi
nimamahdian@sru.ac.ir
2
Shahid Rajaee Teacher Training University
Shahid Rajaee Teacher Training University
At present, the use of unmanned aerial vehicles (UAVs) has been increased dramatically. The reasons for this development are cheapness, smallness, simplicity, and diversity of missions. The simplicity of guidance and control of multi-rotor drones is that they are equipped with an autopilot system. This system is responsible for flying control. UAVs do not have a high weight and often have three-phase high-speed motors which makes a fast and complex flight dynamics. In this paper, a fuzzy adaptive PID controller is applied to control an UAV for carrying a time-varying cargo. The performance of the flight control system implemented on a quadrotor is evaluated, experimentally. A sandbox is used to model the time-varying mass. The sand passes from the beginning of the fly through some holes of the box, and after about a minute all the sand is poured. At the end of the paper, the practical results are compared with results obtained by fixed-parameter PID controller.
http://joc.kntu.ac.ir/article-1-649-en.pdf
Unmanned aerial vehicle
fuzzy adaptive PID
flight control
autopilot system.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
53
61
article
Synchronization analysis of complex dynamical networks with hybrid coupling with application to Chua’s circuit
Ali Kazemy
kazemy@tafreshu.ac.ir
1
Tafresh University
Complex dynamic networks have been considered by researchers for their applications in modeling and analyzing many engineering issues. These networks are composed of interconnected nodes and exhibit complex behaviors that are resulted from interactions between these nodes. Synchronization, which is the concept of coordinated behavior between nodes, is the most interested behavior in these networks. This paper deals with the synchronization of complex dynamical networks with time-delays both in the states of the nodes and coupling connections between them. Moreover, constant coupling, discrete-delay coupling, and distributed-delay coupling are considered to form a hybrid coupling. Therefore, larger class and more complicated complex dynamical networks can be considered for the synchronization problem. After defining the synchronization definition, some criteria are obtained and presented in the form of linear matrix inequalities with help of the Lyapunov-Krasovskii theorem to ascertain the synchronization between each node of the network. Finally, the method is utilized for synchronization analysis of coupled Chua’s circuits which has been simulated numerically.
http://joc.kntu.ac.ir/article-1-638-en.pdf
Synchronization
Complex dynamical network
Lyapunov–Krasovskii
Time-delayed systems
Chua’s circuit
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
63
74
article
Designing a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor
Abolfazl Eskandarpour
A.eskandarpour@modares.ac.ir
1
S.M. Mehdi Dehghan
smmd@mut.ac.ir
2
Jalal Karimi
karimi_j@mut.ac.ir
3
Tarbiat Modares University
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target. In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed. In the inner loop, a constrained model predictive controller is designed to eliminate the environmental disturbances and also to ensure the stability against the rapid movement of the target considering the constraints on the dynamic of the Hexarotor. In the outer loop of the controller, the ability of the Hexarotor in changing its height helps the Hexarotor to preserve the ground moving target despite the sudden changes in the target direction and its temporal exitance from the field of view. Also, the controller provides an optimized control effort in a situation where the target attempts to reduce the energy level and endurance of the Hexarotor. In order to ensure the performance of the proposed system, the stability of the closed-loop system is guaranteed by defining a final state penalty function. The simulation results show the effectiveness of the proposed controller in ground moving target tracking in the presence of the environmental disturbances, the variation of the target altitude, and the deceptive movement of the target.
http://joc.kntu.ac.ir/article-1-625-en.pdf
fault detection
nonlinear system
nonlinear matrix inequalities
unknown input observer
TS fuzzy model
mapping.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
75
87
article
Ball Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera
Behzad Nobahar
behzadnobahar@gmail.com
1
Maryam Shoaran
mshoaran@tabrizu.ac.ir
2
Ghader Karimian Khosroshahi
karimian@tabrizu.ac.ir
3
University of Tabriz
University of Tabriz
University of Tabriz
In robotics research, catching a projectile object with a robotic system is one of the challenging problems. The outcome of these researches can be used in a wide range of applications such as video surveillance systems, analysis of sports videos, monitoring programs for human activities, and human-machine interactions. In this paper, we propose a new vision-based algorithm to estimate the trajectory of a projectile, which estimates the time and the position of the projectile's collision with the robot's working space in real-time. We use sub-pixel calculations and present an improved algorithm for estimating the center of the ball. We evaluate the performance of different trajectory estimation algorithms and also provide a real-time hardware implementation of our method on a designed robot. Moreover, the combination of single-camera and gyroscope information is studied in this paper. The results show that the proposed algorithm is capable of correctly estimating the ball's trajectory and has a very good performance against the noise.
http://joc.kntu.ac.ir/article-1-630-en.pdf
Machine Vision
Trajectory Estimation
Visual Servoing
Ball Detection
Single Camera.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
89
102
article
Employing dual frequency phase sensitive demodulation technique to improve the accuracy of voltage measurement in magnetic induction tomography and designing a labratoary prototype
Mohammad Yousefi
mr-yousefi@iaun.ac.ir
1
Reza Jafari
rjafari@eetd.kntu.ac.ir
2
Hamid Abrishami Moghadam
moghadam@eetd.kntu.ac.ir
3
Najafabad Branch, Islamic Azad University
K. N. Toosi University
K. N. Toosi University
Magnetic induction tomography (MIT) is a promising modality for noninvasive imaging due to its contactless technology. Being a non-contact safe imaging technique, MIT has been an appropriate method in compare to other electrical tomography. In this imaging method, a primary magnetic field is applied by excitation coils to induce eddy currents in the material to be studied and a secondary magnetic field is detected from these eddy currents using sensing coils. Image is then reconstructed using measurement data, initial estimstion of electrical conductivity and iterative solution of forward and inverse problems. In the developed 16-coilMIT system, dual frequency phase sensitive demodulation technique is employed to improve the receiver coil voltages measurment. In the dual frequency technique, an auxiliary frequency is used for improving the measurement accuracy and the real and imaginary parts of coil voltages measured in the two different low and high frequency, independently.
http://joc.kntu.ac.ir/article-1-626-en.pdf
magnetic induction tomography
magnetic induction imaging
phase-sensitive demodulation
magnetic measurment.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2020-11
14
3
103
116
article
Scaling, Modeling and Traffic Control of a Real Railway Network using Max-plus Algebra and Model Predictive Control
Bijan Moaveni
b.moaveni@kntu.ac.ir
1
Mehrshad Shafaati
mehrshad_shafaati@yahoo.com
2
K. N. Toosi University of Technology
Iran Univeristy of Science and Technology
Delay time recovery can increase the efficiency of the railway network and increase the attractiveness of railway transport against other transportation systems. This article presents a new dynamical model of railway system. The proposed model is a discrete event systems that is defined based on the deviation of travel time and deviation of stop time of trains. Due to the existence of multiple substations along the path and the possibility of solving the control problem at an acceptable time, the realization of the real railway network of the Islamic Republic of Iran into a smaller network has been used without losing the integrity of the issue. The Max-Plus is used to model the dynamics of traffic along the route and Model Predictive Control is used to control the traffic. The goals of the control system are reduction of time delay along the route and eliminate it by reducing the train travel time between stations and change in meeting or not meeting time scheduled trains in the interface stations. In the final section of the paper, simulation results are presented to show the validity of the proposed model as well as the successful performance of the MPC system. It should be noted that in this study, modeling and simulations have been done based on actual traffic information in the main lines of the Islamic Republic of Iran Railways.
http://joc.kntu.ac.ir/article-1-550-en.pdf
Dynamic Modeling of Railway Traffic
Max-Plus Algebra
Model Predictive Control
Time Delay Recovery.