per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
1
9
article
Design of Hand Tremor Reduction System Based on Predictive Control in Patients with Parkinson Disease
Roya Arasteh
r.araste92@gmail.com
1
Javad Safaie
safaie@um.ac.ir
2
Mahdi Abbasi
mahdi.abbac30@gmail.com
3
Aref Afsharfard
afsharfard@um.ac.ir
4
Electrical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Electrical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Mechanical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Mechanical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Parkinson's disease is the most common neurological disorder after Alzheimer's, which is caused by a decrease in the brain's ability to produce dopamine. There are several ways to reduce the effects of this disease so far, but unfortunately these have many side effects. For this reason, many attempts have been made to find non-invasive alternative methods that are generally ineffective due to the cost, system weight, and so on.
In this paper, the active method is used to reduce the transmitted vibration to the device. In the proposed scheme, the vibration of the hand is first identified using an ANFIS filter and then by two electric motors and the designed mechanism, a reverse motion is applied using the predictive controller. The simulation results show the system performance in following voluntary movements and eliminating spontaneous vibration from Parkinson's disease.
http://joc.kntu.ac.ir/article-1-712-en.pdf
Parkinson
Hand tremor reduction robot
Predictive control
Fuzzy neural network
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
11
22
article
Design of event-triggered control law for consensus of fuzzy multi-agent systems with input delay
Reza Rahnama
rezarahnama62@yahoo.com
1
Ali Moarefianpour
moarefian@srbiau.ac.ir
2
Nima Mahdian Dehkordi
nimamahdian@sru.ac.ir
3
Islamic Azad University, Sience and Research Branch, Tehran, Iran
Islamic Azad University, Sience and Research Branch, Tehran, Iran
Shahid Rajaee Teacher Training University,Tehran, Iran
In this paper, the design of consensus control law in leader-follower multi-agent systems for agents with TS fuzzy dynamical model will be studied. In this study, assuming an event-triggered mechanism for updating the control signal of each agent, while reducing the number of control signal updates, the stability of the closed loop system is guaranteed. Each agent only sends data to other agents at the time of trigger, and its control input is updated only at the same time. The design of the control law and the event-triggered mechanism will lead to the solution of a system of linear matrix inequality. The innovation of the present study is in selecting fuzzy model for agents that can extend the solution of the consensus problem of multi-agent systems to more nonlinear systems. Finally, the effectiveness of the proposed method is shown through a numerical example.
http://joc.kntu.ac.ir/article-1-730-en.pdf
multi-agent systems
consensus
fuzzy agents
event-trigger
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
23
32
article
Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities
Saeed Khan kalantary
s.khan@ec.iut.ac.ir
1
Iman Izadi
iman.izadi@cc.iut.ac.ir
2
Farid Sheikholeslam
sheikh@cc.iut.ac.ir
3
Isfahan university of technology
Isfahan university of technology
Isfahan university of technology
In this paper, the formation tracking of multi-agent systems is discussed. The model considered for each agent is linear with uncertain parameters. The effect of external disturbances is also considered in the model. To achieve predetermined time-varying formation, the required control input is presented. By applying this input, the closed-loop system will take the desired formation. Establishing the appropriate conditions for the realization of time-varying formation, and using the Lyapunov theory and the H_inf index to reduce the disturbance effect, results in some linear matrix inequalities. The designed parameter is then computed by solving those linear matrix inequalities. Finally, a simulation example is presented to illustrate the effectiveness of the designed strategy.
http://joc.kntu.ac.ir/article-1-696-en.pdf
Multi agent system
time varying formation tracking
robust control
linear matrix inequalities
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
33
49
article
Finite-time Target Tracking for an Autonomous Submarine in Three-Dimensional Space by Using Dynamic Surface Control
Elham Ramezani
ramezanielham@sel.iaun.ac.ir
1
Khoshnam Shojaei
shojaei@pel.iaun.ac.ir
2
Najafabad Branch, Islamic Azad University
Najafabad Branch, Islamic Azad University
In this paper, the control problem of a finite-time target tracking for an underactuated autonomous submarine is considered in three-dimensional space in the presence of unknown disturbances caused by waves and ocean currents via Dynamic Surface Control (DSC) method. At first, computational complexities of the backstepping method are greatly reduced by employing the DSC technique. Next, by designing a finite-time controller, it can be demonstrated that system errors converge to a small region containing the origin in a finite time. An adaptive robust controller is employed to compensate for unknown vehicle parameters and uncertain nonlinearities. The stability of the proposed controller is demonstrated by an analysis based on Lyapunov theory. Finally, the tracking performance of the proposed control scheme is simulated by MATLAB software and its effectiveness is shown as well.
http://joc.kntu.ac.ir/article-1-741-en.pdf
Autonomous Underwater Vehicles
Dynamic Surface Control
Finite-Time Control
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
51
68
article
Construction, Modelling and control of an experimental helicopter (TRMS)
Habib Mehdipour
habibmehdipour@gmail.com
1
Sajjad Moosapour
smoosapour@gmail.com
2
Mehrdad keramatzadeh
Mdkeramatzadeh@yahoo.com
3
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
In this paper, a two-input two-output experimental TRMS model helicopter is designed and built to investigate and test different identification and control algorithms. First, the steps required (software and hardware) to design, build, and operate this two-degree-of-freedom system are stated. Then, laboratory system is identified and modeled using physical laws governing the system and their analysis, as well as with the determination method and some classical identification methods to determine the parameters, and a highly nonlinear dynamic with interaction effect for the system is achieved. In addition, the two-input two-output system is transformed into two decoupled single-input single-output subsystems and each PID controller is individually designed for a subsystem. Also, considering the interaction effect for the two-input two-output system, a PID controller is designed and implemented using Sequential loop closing (SLC) method. For validation, the practical results of the implementation are compared with the simulation results in Matlab software. The results show the validity of the extracted model as well as the effective performance of the controller.
http://joc.kntu.ac.ir/article-1-736-en.pdf
TRMS
twin rotor MIMO system
experimental helicopter
identification
Sequential loop closing
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
69
80
article
Design of Decentralized Adaptive Integral Terminal Sliding Mode Controller for Linear Interconnected Mechanical Systems in the Presence of External Disturbance
Babak Ranjbar
babak.r2012@yahoo.com
1
Abolfazl Ranjbar Noiey
a.ranjbar@nit.ac.ir
2
Behrooz Rezaie
brezaie@nit.ac.ir
3
Babol noshirvani university of technology
Babol noshirvani university of technology
Babol noshirvani university of technology
In this paper, a tracking decentralized Adaptive Integral Terminal Sliding Mode control (DAITSMC) technique is proposed for a class of linear interconnected mechanical systems with unknown linear interconnections between subsystems and in the presence of disturbance is considered. In this way, the interconnected system is divided into several subsystems. Then an integral terminal sliding surface is considered for each subsystem. The proposed approach increases the speed of input tracking in a finite time as well as the disturbance attenuation. The effect of unknown linear interconnections between subsystems is considered as uncertainty that is estimated by adaptive rules. The stability of the closed-loop system is guaranteed by a Lyapunov function and selecting the appropriate design parameters. The developed method is applied to two interconnected mechanical systems; the simulation results show that the proposed method (DAITSMC) is efficient for interconnected systems in the presence of disturbance. Comparison of simulation results with several control methods shows that the proposed method (DAITSMC) is efficient for linear interconnected systems in the presence of disturbance and the convergence error becomes zero faster.
http://joc.kntu.ac.ir/article-1-731-en.pdf
linear interconnected system
adaptive control
decentralized terminal sliding mode control
Lyapunov function
unknown linear interconnections
external disturbance.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
81
96
article
Task Scheduling Using the PSO-IWD Hybrid Algorithm in Cloud Computing with Heterogeneous Resources
Alireza Sadeghi Hesar
alireza.sadeghi89@yahoo.com
1
Seyed Reza Kamel Tabakh
DrKamel@mashdiau.ac.ir
2
Mahboobeh Houshmand
Houshmand@mshdiau.ac.ir
3
Islamic Azad University of Mashhad
Islamic Azad University of Mashhad
Islamic Azad University of Mashhad
Optimal Task Scheduling is one of the most important challenges for achieving high performance in distributed environments such as cloud computing. The primary purpose of task scheduling is to allocate tasks to resources so that some of the system performance metrics will be optimized such as runtime or parallelism. Task scheduling is an NP-complete problem, so heuristic or metha-heuristic algorithms are used to solve it. Because cloud providers offer computing resources based on the pay-as-you-go model, the scheduling algorithm affects the users cost of the cloud. In this paper, a new cloud task scheduling algorithm based on particle swarm optimization as a metha-heuristic method is proposed that assigns users tasks to free resources in cloud computing environments. To enhance the convergence rate of the particle swarm optimization method, the intelligent water drops algorithm is applied. The results of this algorithm on random graphs showed a significant improvement in the performance of the proposed method compared to other task scheduling algorithms.
http://joc.kntu.ac.ir/article-1-627-en.pdf
Cloud Computing
Task Scheduling
Particle Swarm Optimization
Intelligent Water Drops
Heterogeneous Resources
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
97
105
article
Modeling and Verification of the State Space Equation for an Isolated Series Resonant Converter
Reza Amjadifard
r.amjadifard@ee.kntu.ac.ir
1
Mohammad Tavakoli Bina
tavakoli@eetd.kntu.ac.ir
2
Hamid Khaloozadeh
h_khaloozadeh@kntu.ac.ir
3
Farhad Bagheroskouei
f.bageroskuee@aut.ac.ir
4
Vali Talebzadeh
v.talebzadeh@isrc.ac.ir
5
KNUT
KNTU
KNUT
ISRC
ISRC
Resonant converter due to implementation of zero voltage switching (ZVS) or zero current switching (ZCS), are very interested. Although using these techniques, increases the efficiency and also decreases the generated EMI noise, obtaining the small-signal model of these converters is very complicated. The state-space variables mostly change as a sinusoid curve, so the average of these variables is equal to zero. Therefore the traditional method such as state-space averaging is not applicable in order to obtaining the state space equation of the converter. In this article, the state space equation is obtained by using the extended describing functions. To verify the obtained equation, the Middlebrook method is suggested. By means of this method, the bode-plot of the open-loop transfer function could be obtained based on the existing hardware. So an isolated series resonant converter is implemented and the required signals are measured in order to draw the bode-plot of the open-loop transfer function based on Middlebrook method. Verification is performed by comparing the experimental results with simulation results.
http://joc.kntu.ac.ir/article-1-728-en.pdf
Resonant converter
Extended describing function
State-space equation
MiddleBrook.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
107
116
article
A control method for a DC-DC boost converter with an LC input filter based on Lyapunov function
Mohammad Afkar
mo.afkar@mail.sbu.ac.ir
1
Mahsa Rahmati Khorramabadi
m.rahmatikhorramabad@mail.sbu.ac.ir
2
Sara Mahmoodian Yonesi
sa.mahmoodian@mail.sbu.ac.ir
3
Roghayeh Gavagsaz Ghoachani
r_gavagsaz@sbu.ac.ir
4
Serge Pierfederici
serge.pierfederici@univ-lorraine.fr
5
Shahid Beheshti University
Shahid Beheshti University
Shahid Beheshti University
Shahid Beheshti University
Université de Lorraine
The use of the input low-pass filter causes instability in DC-DC converters. These instabilities occur because of the interaction between the filter and the converter. In this paper, a control method based on Lyapunov is proposed. This control method uses the exact system model without linearization. All state variables are controlled using an instantaneous model. A new state variable is defined to reduce the static output voltage error. No condition is necessary to implement the control strategy. The simulation and experimental results are presented to validate the proposed control method.
http://joc.kntu.ac.ir/article-1-771-en.pdf
Controller
Lyapunov function
Stability
DC converter
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
117
137
article
Optimal Midcourse Guidance Design Using Constrained Generalized Model Predictive Spread Control Method
Amin Ebrahimi Fini
aminebrahimi@mut.ac.ir
1
Ali Mohammadi
alimohammadi@mut.ac.ir
2
Abdorreza Kashaninia
akashaninia@mut.ac.ir
3
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
Malek-Ashtar University of Technology
In this paper, generalized model predictive spread control methodis developed to consider the intermediate constraints on system states and system inputs. Because of using the orthogonal basis functions and thus reducing the computational burden, this new method which is named constrained generalized model predictive spread control can be used in online implementation of a finite-time constrained optimal control problem. For demonstrating the performance of the proposed technique, in this paper an interceptor midcourse guidance problem is formulated to reach a desired point in space. Several constraints are considered such as: hard and soft intermediate and terminal constraints on system states and different constraints on input acceleration command to the interceptor in different time intervals of the trajectory. It is shown that in all the above situations, the proposed method could produce the optimal guidance commands such that all the interceptor trajectory constraints are satisfied.
http://joc.kntu.ac.ir/article-1-766-en.pdf
Midcourse Guidance
GMPSC Method
Constrained Optimization
Online Implementation
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
139
157
article
Subject-Independent Channel and Feature Selection for Emotion Classification Based on EEG Signal: A Multi-Task Approach
Elham Kalhor
e.kalhor333@sadjad.ac.ir
1
Behzad Bakhtiari
bakhtiari@sadjad.ac.ir
2
, Sadjad University of Technology, Mashhad
, Sadjad University of Technology, Mashhad
Several researches have shown that emotion is a mental process and relates to the human’s brain. The emotion has impacts on important procedures, such as memory, concentration, thinking and decision-making. As a result, investigating the mechanism and performance of the emotion have attracted the cognitive science researchers’ attentions. In addition to clinical applications on quick detection, diagnosis and treatment of psychological disorders, investigating the emotion through biological signal processing can play an important role in human-computer communication-based sciences. This will result in progressive improvements in this field. Due to the fact that number of channels and features extracted out of the EEG signal are usually high, selecting relevant channels, with the aim of obtaining effective features, can have a prominent role in the efficiency of these methods. On the other hand, these features should result in the appropriate efficiency when encounter new subjects. In this paper, a multi-task approach is represented for emotion-related channel selection and proper subject-independent feature selection purposes. Moreover, to demonstrate the efficiency of the proposed method, DREAMER and DEAP datasets are used. Also, considering two emotional dimensions, including arousal and valance, some experiments are performed to show the desired efficiency of the proposed method for channel selection and subject-independent feature selection. Experimental results show that the proposed method has better efficiency in comparison with used methods.
http://joc.kntu.ac.ir/article-1-695-en.pdf
Emotion Recognition
Multi-Task Feature Selection
Arousal
Valance
EEG Signal Processing.
per
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
2021-07
15
2
159
175
article
Modeling for the body defense mechanisms in stage I melanoma patient and sensitivity analysis by using Partial Rank Correlation Coefficient (PRCC) method
elnaz kalhor
E.kalhor123@sadjad.ac.ir
1
amin noori
Amin.noori@sadjad.ac.ir
2
Jalil Tavakol Afshari
TavakolAJ@mums.ac.ir
3
sara Saboori Rad
sabourirads@mums.ac.ir
4
Faculty of Electrical and Biomedical Engineering, Sadjad University of Technology
Faculty of Electrical and Biomedical Engineering, Sadjad University of Technology
3Department of Immunology, Faculty of Medicine,Mashhad University of Medical Sciences
Department of Dermatology, School of Medicine, Mashhad University of Medical Sciences
The scientific modeling of cellular growth and proliferation can significantly help to physicians to offer an appropriate treatment. In this paper the modeling of the body's immune system function for a patient with melanoma cancer has been studied. The main advantage of this model is considering more variables to describe dynamics of the melanoma patient’s body, which will make our model more realistic. For estimating the coefficients of the mathematical model, a multi-objective optimization method, "Non-Dominated Sorting Genetic Algorithm", is used. One of the major advantages of such method is considering multiple objectives and simultaneously constraining them. Simulation results reveal that our mathematical model can successfully simulate the function of the body defense system of the melanoma patient. In order to analyze the sensitivity and determine the correlation of the mathematical model output to changing in some parameters, Partial Rank Correlation Coefficient (PRCC) method is employed. Finally, it is demonstrated that Interleukin-2 (IL-2) generation rate change has the highest PRCC value and changing this parameter will have a high impact on the model outputs.
http://joc.kntu.ac.ir/article-1-729-en.pdf
Modeling
Melanoma
NSGAII
CTL
Tumor Antigen
Interleukin-2
PRCC.