Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Synchronization of Chaotic Fractional-Order Genesio Tesi -Coullet Systems via Fractional-Order Adaptive Controller
1
11
FA
Ali
Fayazi
a.fayazi@vru.ac.ir
Hossein
Ahmadi Noubari
noubari@ece.ubc.ca
Hasan
Fatehi Marj
This paper presents a fractional-order adaptive controller based on sliding mode control for synchronization of commensurate fractional-order chaotic systems. The adaptive controller is a fractional PID controller, which the coefficients will be tuned according to a proper adaptation mechanism. Fractional PID coefficients are updated using the gradient method when a proper sliding surface is chosen. To illustrate the effectiveness and performance of the controller, the proposed controller is implemented on chaotic fractional-order Genesio Tessi and Coullet systems. Performance of fractional-order PID adaptive controller (PαIλDμ) based on synchronization error, and control signal is compared with the conventional adaptive controller (PID) and sliding mode controller (SMC). The simulation results show the efficiency of the proposed controller.
Fractional-Order Adaptive Controller, Sliding Mode Control, Chaotic Fractional-Order Genesio-Tessi and Coullet systems, Master and Slave System, Synchronization.
http://joc.kntu.ac.ir/article-1-70-en.html
http://joc.kntu.ac.ir/article-1-70-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
12
19
FA
Reza
DadkhahTehrani
r.dadkhah1388@gmail.com
Mohammad Hossein
Ferdowsi
ferdowsi@mut.ac.ir
predictive functional control, unstructured system identification,Laguerre functions, orthonormal functional series, superheatersteam system.
http://joc.kntu.ac.ir/article-1-71-en.html
http://joc.kntu.ac.ir/article-1-71-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Survey and Comparision of Quantum Systems: Modeling, Stability and Controllability
20
31
FA
Abolghasem
Daeichian
a.daiechian@ec.iut.ac.ir
Farid
Sheikholeslam
sheikh@cc.iut.ac.ir
Nowadays, we are in the beginning of a revolution in technology. The revolution is entrance of quantum theory to the world of technology. An essential task for the quantum technology is the development of the general principles of quantum control theory. Thus, it is required that control engineers enter to this topic. In this paper, a survey and comparision on the dynamics and models of quantum systems such as BLM for open loop control and MME, SME and LQSDE for close loop control are done. In addition, their applications are considered. Also, a survey on quantum network is done that link the control engineering to quantum theory. Quantum network theory analyzes the subsystems interconnections and total model. This paper followed by the concept of stability based on the quantum version of small gain theorem. Also, the concept of quantum systems controllability and investigation of controllability, which determines possibility of atomic or molecular transformation especially in open loop control, are considered. Finally, conclusions and discussion on the mentioned topics have been done
Quantum control, Quantum Systems Modeling, Stochastic Master Equation, Quantum Network, Stability, Controllability
http://joc.kntu.ac.ir/article-1-72-en.html
http://joc.kntu.ac.ir/article-1-72-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Nonlinear Control and Estimation of Tire Longitudinal Slip for using in Anti-lock Braking System
32
41
FA
Mahdi
Mirzaei
mirzaei@sut.ac.ir
Hossein
Mirzaeinejad
h_mirzaeinejad@sut.ac.ir
Siavash
Vahidi
siavash.vahidi@yahoo.com
Davood
Heidarian
d_heidarian@sut.ac.ir
Mohammad Javad
Khosrowjerdi
khosrowjerdi@sut.ac.ir
Anti lock braking system (ABS) is one of the most important safety devises in vehicles during the severe braking. In this system, by regulating the wheel longitudinal slip at its optimum value, the maximum braking force is generated and therefore the minimum stopping distance for the vehicle is achieved. The hard nonlinearity due to the saturation of tire forces and modeling uncertainties are the main difficulties arising in the design of ABS. Also, the system states including the longitudinal speed and the wheel slip are not directly measurable and have to be estimated. In this paper, a nonlinear optimization based controller is analytically designed for ABS and is combined with a nonlinear estimator based on Unscented Kalman Filter (UKF). This estimation algorithm directly uses nonlinear equations of the system and does not require the linearization and differentiation. Here, the performance of the designed controller in the presence of states estimation and parametric uncertainties is analytically investigated. The simulation results indicate the efficiency of the proposed controller in tracking the optimal longitudinal wheel slip.
Anti lock braking system (ABS), Nonlinear controller, Nonlinear estimator, optimization, tire longitudinal slip
http://joc.kntu.ac.ir/article-1-73-en.html
http://joc.kntu.ac.ir/article-1-73-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Design and Implementation of an Optimized Intelligent Control Algorithm for Robotic Rehabilitation of Lower Limbs of Handicapped Patients using a 6-DOF Parallel Robot
42
51
FA
Wahab
Amini Azar
wahabamini@gmail.com
Farid
Najafi
fnajafi@kntu.ac.ir
Mohammad Ali
Nekooi
anekooi@kntu.ac.ir
The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work. There are some commercial exercise machines used for this purpose called rehabilitation systems. However, these machines have limited use because of some reasons. In this paper, an algorithm and an improved rule are presented for designing a rehabilitation intelligent system of lower limbs by a 6-DOF Stewart parallel robot. Impedance control and adaptive control are used to control of robot. Estimation and optimization of control parameters will be done by NN and GA, respectively. Thereafter, the results of simulations are presented by defining a physiotherapy standard mode on desired trajectory. MATLAB Simulink is used for simulations. It shows that proposed algorithm in comparation with other similar methods is a low-cost method and needs to less energy and force with high accuracy.
Rehabilitation robotic, Genetic Algorithm, Neural Network, optimized control, impedance control
http://joc.kntu.ac.ir/article-1-75-en.html
http://joc.kntu.ac.ir/article-1-75-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Phase Transformation Modeling and Robust Adaptive Switching Control of Shape Memory Alloy Actuators With and Without Considering Time Delay of These Actuators
52
64
FA
Hossein
Chehardoli
Hchehardoli@gmail.com
Mohammad
Eghtesad
Eghtesad@shirazu.ac.ir
Mehrdad
Farid
Farid@shirazu.ac.ir
Shape Memory Alloys are widely used in the industry. Different researchers introduce successful models for phase transformation. In this work firstly the Lagoudas assumptions is corrected and an enhanced model for phase transformation of these smart materials is introduced. Secondly we compare results of this model with cosine Liang-Rogers model. Results show a good consistency between this model and cosine Liang-Rogers model. Afterwards for the first time switching control for these operators is investigated. For this reason, special application of smart material is selected and a common Lyapunov function for all subsystems is selected to prove stability of the system under any arbitrary switching. Subsequently robust adaptive switching control is applied on it. Lastly, a time delay problem is supposed and it is shown that even by considering time delay for this switched system, it is globally asymptotically stable.
http://joc.kntu.ac.ir/article-1-76-en.html
http://joc.kntu.ac.ir/article-1-76-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
5
4
2012
3
1
Parameter Estimation of an Exponentially Damped Sinusoidal Signal Using Adaptive Identifier
65
71
FA
Mohammad Ali
Ghadiri-Modarres
ma.ghadirimodarres@ec.iut.ac.ir
Mohsen
Mojiri
cc.iut.ac.ir
Bahram
Karimi
bahram-karimi@aut.ac.ir
This paper presents an adaptive identifier based algorithm for online estimation of damping factor and frequency of an exponentially damped sinusoidal signal. The algorithm is based on an adaptive identifier which is a theoretical tool for the estimation of the parameters of an unknown linear system. The governing equations of the proposed algorithm are composed of a second order linear filter and two update laws that provide indirect estimation of the frequency and damping factor. Local stability analysis of the proposed method is presented using averaging theory. Simulation results confirm the analytical derivations and also the desirable performance of the proposed algorithm.
Exponentially damped sinusoidal signal, Frequency, Damping factor, Adaptive identifier, Averaging theory.
http://joc.kntu.ac.ir/article-1-77-en.html
http://joc.kntu.ac.ir/article-1-77-en.pdf