Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Design of Hand Tremor Reduction System Based on Predictive Control in Patients with Parkinson Disease
1
9
FA
Roya
Arasteh
Electrical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
r.araste92@gmail.com
Javad
Safaie
Electrical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
safaie@um.ac.ir
Mahdi
Abbasi
Mechanical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
mahdi.abbac30@gmail.com
Aref
Afsharfard
Mechanical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
afsharfard@um.ac.ir
10.52547/joc.15.2.1
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.
Parkinson, Hand tremor reduction robot, Predictive control, Fuzzy neural network
http://joc.kntu.ac.ir/article-1-712-en.html
http://joc.kntu.ac.ir/article-1-712-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Design of event-triggered control law for consensus of fuzzy multi-agent systems with input delay
11
22
FA
Reza
Rahnama
Islamic Azad University, Sience and Research Branch, Tehran, Iran
rezarahnama62@yahoo.com
Ali
Moarefianpour
Islamic Azad University, Sience and Research Branch, Tehran, Iran
moarefian@srbiau.ac.ir
Nima
Mahdian Dehkordi
Shahid Rajaee Teacher Training University,Tehran, Iran
nimamahdian@sru.ac.ir
10.52547/joc.15.2.11
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.
multi-agent systems, consensus, fuzzy agents, event-trigger
http://joc.kntu.ac.ir/article-1-730-en.html
http://joc.kntu.ac.ir/article-1-730-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities
23
32
FA
Saeed
Khan kalantary
Isfahan university of technology
s.khan@ec.iut.ac.ir
Iman
Izadi
Isfahan university of technology
iman.izadi@cc.iut.ac.ir
Farid
Sheikholeslam
Isfahan university of technology
sheikh@cc.iut.ac.ir
10.52547/joc.15.2.23
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.
Multi agent system, time varying formation tracking, robust control, linear matrix inequalities
http://joc.kntu.ac.ir/article-1-696-en.html
http://joc.kntu.ac.ir/article-1-696-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Finite-time Target Tracking for an Autonomous Submarine in Three-Dimensional Space by Using Dynamic Surface Control
33
49
FA
Elham
Ramezani
Najafabad Branch, Islamic Azad University
ramezanielham@sel.iaun.ac.ir
Khoshnam
Shojaei
Najafabad Branch, Islamic Azad University
shojaei@pel.iaun.ac.ir
10.52547/joc.15.2.33
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.
Autonomous Underwater Vehicles, Dynamic Surface Control, Finite-Time Control
http://joc.kntu.ac.ir/article-1-741-en.html
http://joc.kntu.ac.ir/article-1-741-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Construction, Modelling and control of an experimental helicopter (TRMS)
51
68
FA
Habib
Mehdipour
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
habibmehdipour@gmail.com
Sajjad
Moosapour
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
smoosapour@gmail.com
Mehrdad
keramatzadeh
Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran,
Mdkeramatzadeh@yahoo.com
10.52547/joc.15.2.51
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.
TRMS, twin rotor MIMO system, experimental helicopter, identification, Sequential loop closing
http://joc.kntu.ac.ir/article-1-736-en.html
http://joc.kntu.ac.ir/article-1-736-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Design of Decentralized Adaptive Integral Terminal Sliding Mode Controller for Linear Interconnected Mechanical Systems in the Presence of External Disturbance
69
80
FA
Babak
Ranjbar
Babol noshirvani university of technology
babak.r2012@yahoo.com
Abolfazl
Ranjbar Noiey
Babol noshirvani university of technology
a.ranjbar@nit.ac.ir
Behrooz
Rezaie
Babol noshirvani university of technology
brezaie@nit.ac.ir
10.52547/joc.15.2.69
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.
linear interconnected system, adaptive control, decentralized terminal sliding mode control, Lyapunov function, unknown linear interconnections, external disturbance.
http://joc.kntu.ac.ir/article-1-731-en.html
http://joc.kntu.ac.ir/article-1-731-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Task Scheduling Using the PSO-IWD Hybrid Algorithm in Cloud Computing with Heterogeneous Resources
81
96
FA
Alireza
Sadeghi Hesar
Islamic Azad University of Mashhad
alireza.sadeghi89@yahoo.com
Seyed Reza
Kamel Tabakh
Islamic Azad University of Mashhad
DrKamel@mashdiau.ac.ir
Mahboobeh
Houshmand
Islamic Azad University of Mashhad
Houshmand@mshdiau.ac.ir
10.52547/joc.15.2.81
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.
Cloud Computing, Task Scheduling, Particle Swarm Optimization, Intelligent Water Drops, Heterogeneous Resources
http://joc.kntu.ac.ir/article-1-627-en.html
http://joc.kntu.ac.ir/article-1-627-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Modeling and Verification of the State Space Equation for an Isolated Series Resonant Converter
97
105
FA
Reza
Amjadifard
KNUT
r.amjadifard@ee.kntu.ac.ir
Mohammad
Tavakoli Bina
KNTU
tavakoli@eetd.kntu.ac.ir
Hamid
Khaloozadeh
KNUT
h_khaloozadeh@kntu.ac.ir
Farhad
Bagheroskouei
ISRC
f.bageroskuee@aut.ac.ir
Vali
Talebzadeh
ISRC
v.talebzadeh@isrc.ac.ir
10.52547/joc.15.2.97
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.
Resonant converter, Extended describing function, State-space equation, MiddleBrook.
http://joc.kntu.ac.ir/article-1-728-en.html
http://joc.kntu.ac.ir/article-1-728-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
A control method for a DC-DC boost converter with an LC input filter based on Lyapunov function
107
116
FA
Mohammad
Afkar
Shahid Beheshti University
mo.afkar@mail.sbu.ac.ir
Mahsa
Rahmati Khorramabadi
Shahid Beheshti University
m.rahmatikhorramabad@mail.sbu.ac.ir
Sara
Mahmoodian Yonesi
Shahid Beheshti University
sa.mahmoodian@mail.sbu.ac.ir
Roghayeh
Gavagsaz Ghoachani
Shahid Beheshti University
r_gavagsaz@sbu.ac.ir
Serge
Pierfederici
Université de Lorraine
serge.pierfederici@univ-lorraine.fr
10.52547/joc.15.2.107
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.
Controller, Lyapunov function, Stability, DC converter
http://joc.kntu.ac.ir/article-1-771-en.html
http://joc.kntu.ac.ir/article-1-771-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Optimal Midcourse Guidance Design Using Constrained Generalized Model Predictive Spread Control Method
117
137
FA
Amin
Ebrahimi Fini
Malek-Ashtar University of Technology
aminebrahimi@mut.ac.ir
Ali
Mohammadi
Malek-Ashtar University of Technology
alimohammadi@mut.ac.ir
Abdorreza
Kashaninia
Malek-Ashtar University of Technology
akashaninia@mut.ac.ir
10.52547/joc.15.2.117
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.
Midcourse Guidance, GMPSC Method, Constrained Optimization, Online Implementation
http://joc.kntu.ac.ir/article-1-766-en.html
http://joc.kntu.ac.ir/article-1-766-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Subject-Independent Channel and Feature Selection for Emotion Classification Based on EEG Signal: A Multi-Task Approach
139
157
FA
Elham
Kalhor
, Sadjad University of Technology, Mashhad
e.kalhor333@sadjad.ac.ir
Behzad
Bakhtiari
, Sadjad University of Technology, Mashhad
bakhtiari@sadjad.ac.ir
10.52547/joc.15.2.139
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.
Emotion Recognition, Multi-Task Feature Selection, Arousal, Valance, EEG Signal Processing.
http://joc.kntu.ac.ir/article-1-695-en.html
http://joc.kntu.ac.ir/article-1-695-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
15
2
2021
7
1
Modeling for the body defense mechanisms in stage I melanoma patient and sensitivity analysis by using Partial Rank Correlation Coefficient (PRCC) method
159
175
FA
elnaz
kalhor
Faculty of Electrical and Biomedical Engineering, Sadjad University of Technology
E.kalhor123@sadjad.ac.ir
amin
noori
Faculty of Electrical and Biomedical Engineering, Sadjad University of Technology
Amin.noori@sadjad.ac.ir
Jalil
Tavakol Afshari
3Department of Immunology, Faculty of Medicine,Mashhad University of Medical Sciences
TavakolAJ@mums.ac.ir
sara
Saboori Rad
Department of Dermatology, School of Medicine, Mashhad University of Medical Sciences
sabourirads@mums.ac.ir
10.52547/joc.15.2.159
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.
Modeling, Melanoma, NSGAII, CTL, Tumor Antigen, Interleukin-2, PRCC.
http://joc.kntu.ac.ir/article-1-729-en.html
http://joc.kntu.ac.ir/article-1-729-en.pdf