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Sliding mode control applied to motion control of linear structural systems under earthquake excitation 3

Sliding mode control applied to motion control of linear str...

引用

3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003

作者： Jalili-Kharaajoo, Mahdi Feizi-Khankandi, Siamak Gholami, Arash Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran Civil Engineering Dep. University of Tehran P.O. Box 14395/525 Tehran Iran

For dynamical systems expressed in state-space form or for systems with non-classical damping, the reduction of the structural model into the modal co-ordinales involves complex modal analysis with complex modal co-ordinates. In this paper, application of sliding mode control for vibration control of a linear structural system under earthquake excitation is investigated. The proposed controller is applied to a three-storey building structure and the motion of the floors under El-Centro earthquake is investigated. Simulation results show that using the proposed sliding mode controller the displacement of the floors is decreased significantly. This controller can be similarly applied for higher order building. Copyright © 2003 IFAC.

关键词： Floors

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Feedback linerization with sliding mode control of current and Arc length in GMA W systems 4

Feedback linerization with sliding mode control of current a...

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4th IFAC Symposium on Robust control Design, ROCOND 2003

作者： Ebrahimirad, Hassan Kharaajoo, Mahdi Jalili Vazdanpanah, M.J. Labibi, Balool Control and Intelligent processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O Box 14395/515 Tehran Iran K.N. Toosi University of Technology Tehran Iran

In this paper a model based nonlinear controller for a Gas MetaJ Arc Welding (GMAW) system is designed. The controller uses nonlinear stale feedback to exactly linearize and decouple the GMAW system. The linearized system is then controlled using model reference sliding mode controllers. The effect of parameter uncertainty over the closed loop system performance is investigated and simulation results show the effectiveness of the proposed controller. © 2003 IFAC.

关键词： controllers

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Digital sliding mode position control of an induction motor 4

Digital sliding mode position control of an induction motor

引用

4th IFAC Symposium on Robust control Design, ROCOND 2003

作者： Kharaajoo, Mahdi Jalili Ebrahimirad, Hassan Yazdanpanah, M.J. Labibi, Batool Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran K.N. Toosi University of Technology Tehran Iran

A sliding mode controller is employed to improve the robust performance of the position control of an induction motor in response to mechanical parameter uncertainty or load torque variations. In this paper a discrete-time sliding mode controller is proposed for an indirect-vector controlled induction motor. Using the proposed controller, the position control of an induction motor is designed and the effects of the parameter uncertainty and the load torque variations on the performance of the controller are investigated. Simulation results reveal the effectiveness of the proposed controller. © 2003 IFAC.

关键词： Induction motors

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Air/fuel ratio control in SI1 engines using a combined neural network and estimator

Air/fuel ratio control in SI1 engines using a combined neura...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： M.J. Yazdanpanah A. Kalhor Intelligent Control & Processing Center of Excellence Department Of Electrical And Computer Engineering Faculty Of Engineering University Of Tehran Tehran Iran

In this paper by using a controller based on a neural network and an estimator, an efficient method in A/F ratio for SI engines is presented. This combined method improves plant performance effectively and provides robustness against disturbances due to work point changing. It is shown that by combining two separate methods, a useful control strategy may be generated. Simulation results reveal the superiority of this method.

关键词： Fuels Intelligent networks Neural networks Internal combustion engines Engine cylinders Manifolds Gases Testing Delay Sliding mode control

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Iterative median filtering for restoration of images with impulsive noise

Iterative median filtering for restoration of images with im...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： A.R. Forouzan B.N. Araabi Control & Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

Iterative median filtering for restoration of images corrupted by impulsive noise is considered. A modified version of median filtering that can be also applied iteratively is also proposed. The methods are compared with an iterative method suggested by Marvasti for images with high pixel loss. The results show that applying the median filter iteratively results in well sighted resulting images. Moreover, despite the implementation simplicity, the proposed modified median filtering scheme provides a considerably higher convergence speed which intends a lower numerical complexity.

关键词： Filtering Image restoration Iterative methods Pixel Image sampling Interpolation Convergence of numerical methods Image storage Low pass filters Process control

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Fault detection and isolation on flexible-joint manipulators

Fault detection and isolation on flexible-joint manipulators

引用

2003 European control Conference, ECC 2003

作者： Vasegh, N. Yazdanpanah, M.J. Dept. of Electrical Engineering K. N. Tossi University of Technology University of Tehran P.O. Box 14395/515 Tehran Iran Intelligent Control and Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran

ISBN: (纸本)9783952417379

In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach. © 2003 EUCA.

关键词： Fault detection

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Application of fuzzy sliding mode based on genetic algorithms to control of robotic manipulators

Application of fuzzy sliding mode based on genetic algorithm...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Moshiri M. Jalili-Kharaajoo F. Besharati Electrical and Computer Engineering Department Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran

The paper presents the design of fuzzy sliding mode control based on genetic algorithms. An optimal design criterion is not required in the design of a fuzzy sliding mode control. Therefore, we design a fuzzy sliding mode controller for the general nonlinear control systems as an optimization problem and apply the optimal searching algorithms and genetic algorithms to find the optimal rules and membership functions of the controller. The proposed approach has the merit to determine the optimal structure and the inference rules of fuzzy siding mode controller simultaneously. Using the proposed approach, the tracking problem of two-degree-of-freedom rigid robot manipulator is studied. Simulation results of the close-loop system with the proposed controller based on genetic algorithms show the effectiveness of the approach.

关键词： Fuzzy control Genetic algorithms Robot control Sliding mode control Manipulators Optimal control Nonlinear control systems Algorithm design and analysis control systems Fuzzy systems

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Nonlinear control and disturbance decoupling of an HVAC system via feedback linearization and back-stepping

Nonlinear control and disturbance decoupling of an HVAC syst...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： E. Semsar M.J. Yazdanpanah C. Lucas Department of Electrical and Computer Engineering and Intelligent Control & Processing Center of Excellence University of Tehran Tehran Iran

In this paper a backstepping controller for a nonlinear, MIMO HVAC system is introduced. Feedback linearization method with introduction of a feedback of states and disturbances is used for the purposes of disturbance decoupling and nonlinear model linearization. The backstepping controller is applied to the linearized model of the system. It is shown that by this method, heat and moisture loads can be compensated, considering them as measurable disturbances. In this way the system can adapt itself to load variations fast and without any offset. Finally the simulation results are brought to show the ability of the method to present a controller with high disturbance decoupling and good tracking properties.

关键词： Linear feedback control systems Nonlinear control systems control systems Space heating Moisture Humidity Thermal loading Water heating Temperature control State feedback

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Robust control of mobile robots using the computed torque plus H/sub /spl infin// compensation method

Robust control of mobile robots using the computed torque pl...

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IEEE Conference on Decision and control

作者： M.J. Yazdanpanah G.K. Khosrowshahi Department of Electrical and Computer Engineering Tehran University Control & Intelligent Processing Center of Excellence Tehran Iran

This paper introduces robust control architecture for nonholonomic mobile robots. The proposed technique linearizes and decouples the nonlinear and coupled dynamic equations of the robot by computed torque approach. Since the computed torque technique requires the exact knowledge of the corresponding nonlinear dynamics, therefore, any mismatch in this regard may leave some nonlinear and also uncertain parts in the resulting system. The effect of mentioned parts may be compensated via a robust controller. As a result, in the present work, the remaining uncertainty is compensated by the H/sub /spl infin// technique, which requires the boundedness of the uncertain part. It is shown that the elements of the said uncertainty are L/sub 2/ -bounded. Numerical simulations demonstrate the effectiveness of the proposed H/sub /spl infin// based robust control scheme.

关键词： Robust control Mobile robots Sliding mode control Uncertainty Torque Robot control Error correction Symmetric matrices Nonlinear dynamical systems Adaptive control

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Optimal nonlinear transient control with neuro-AVR of single-machine infinite-bus power systems

Optimal nonlinear transient control with neuro-AVR of single...

引用

IEEE Conference on Decision and control

作者： M.J. Yazdanpanah M. Jalili-Kharaajoo Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)0780379241

In this paper, a method to design a nonlinear optimal controller using approximate solution of the HJB equation is presented. Using this method, the power system stabilizer is designed. In order to regulate generator terminal voltage to its nominal value, we use a simple neuro-automatic voltage regulator. The final control action is the sum of nonlinear optimal controller and neuro-voltage regulator. Also, the advantages of the controller with nonlinear feedback in some grounds like increasing domain of validity of the system are shown. Simulation results show that the nonlinear control action exhibits a better performance compared to that of corresponding linear counter part. As a result, the fault tolerance of the system using the nonlinear control law is increased. Also, the proposed voltage regulator, which can be trained on-line, shows satisfactory performance.

关键词： Power system transients Optimal control Nonlinear control systems control systems Power system control Power systems Voltage Regulators Design methodology Nonlinear equations

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