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Optimal Dynamic Lyapunov Function and The Largest Estimation of Domain of Attraction

IFAC-PapersOnLine 2017年第1期50卷 2645-2650页

作者： Monfared M.N. Yazdanpanah M.J. Department of Electrical Engineering Faculty of Electrical Biomedical and Mechatronic Qazvin Branch Islamic Azad University Qazvin Iran Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

Estimation of the domain of attraction is one of the major difficulties in the analysis of any nonlinear control system. Exact expression of a candidate Lyapunov function is indispensable for the estimation. The optimal Lyapunov function which helps to estimate the domain of attraction exactly is acquired by solving a partial differential equation that is not solvable easily for all of the systems. In this paper, an algebraic equation is proposed instead of the partial differential equation to acquire optimal Lyapunov function. The key tool for this purpose is dynamic Lyapunov function which makes it possible to have an analytic expression of a family of candidate Lyapunov functions that are parametric and functional. The parameters and functions would be selected such that the optimal Lyapunov function is achieved. As the second contribution of this paper, the problem of optimality in the sense of the largest elliptical estimation of region of attraction would be followed up. Using a linear matrix inequality technique and a special criterion it is shown that dynamic Lyapunov function can leads to a larger elliptical estimation than that of the conventional Lyapunov function. © 2017

关键词： Domain of Attraction Lyapunov function Nonlinear System

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Speed control of Switched Reluctance Motor (SRM) using emotional learning based adaptive controller

Speed control of Switched Reluctance Motor (SRM) using emoti...

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5th International Conference on control and Automation, ICCA'05

作者： Rouhani, Hosscin Milasi, Rasoul Mohammadi Lucas, Caro Iranian Applied Design Center of Excellence Mechanical Engineering Department University of Tehran PO BOX: 14395-1367 Tehran Iran Iranian Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran SCS IPM Iran

ISBN: (纸本)0780391381

In this paper, an intelligent controller is applied to speed control of a switched reluctance motor. Two techniques are used which have been successfully used in other intelligent modeling and control applications. Firstly, a neurofuzzy locally linear model tree system is used for data driven modeling of the switched reluctance motor. Secondly, a neural computing technique based on a mathematical model of amygdala and the limbic system is used for emotional control of the switched reluctance motor. The obtained results indicate the applicability of the proposed techniques in intelligent control of this highly nonlinear system. © 2005 IEEE.

关键词： Speed control

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Fuzzy sliding mode control applied to low noise switched reluctance motor control

Fuzzy sliding mode control applied to low noise switched rel...

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5th International Conference on control and Automation, ICCA'05

作者： Rouhani, Hossein Lucas, Caro Milasi, Rasoul Mohammadi Bahrami, Mansour Nikkhah Iranian Applied Design Center of Excellence Mechanical Engineering Department University of Tehran PO BOX: 14395-1367 Tehran Iran Iranian Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran SCS IPM Iran

ISBN: (纸本)0780391381

In this paper, fuzzy sliding mode controller is designed to govern the dynamics of switched reluctance motor. First, magnetic characteristics data of the motor obtained by Finite Element Method (FEM) is utilized for a fuzzy estimation. Next, fuzzy sliding mode control approach has been utilized as a nonlinear robust control algorithm to deal with a highly nonlinear system with an unknown model and a variable load torque. Simulation results show an excellent tackling the problem with an acceptable control effort. Finally, an effective commutation algorithm has been coupled with the proposed controller which can reduce the acoustic noise resources. © 2005 IEEE.

关键词： Sliding mode control

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Nonlinear H ∞ control of a Bilateral Nonlinear Teleoperation System

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IFAC Proceedings Volumes 2008年第2期41卷 12727-12732页

作者： Kamran Razi M.J. YazdanPanah S. Shiry Ghidary Control and Intelligent Processing Center of Excellence University of Tehran Computer Engineering Department Amirkabir University of Technology Iran

In this paper, we present a nonlinear H ∞ control technique for the bilateral teleoperation of a nonlinear master-slave system. The proposed controller guarantees robust stability in the presence of uncertainty in operator and environment impedances. The guidelines to include nonlinear intervening tool between master and slave robot are suggested. The proposed technique enables adjusting weighting of position and force tracking error functions for both amplitude and frequency domain. To solve the corresponding partial differential equation, called HJI, an approximation method based on Taylor series expansion of the solution is used. A numerical simulation demonstrates that the linear controller tends to instability in contact tasks while the third order approximated nonlinear controller yields desired performance.

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Error concealment in image communication using edge map watermarking and spatial smoothing

Error concealment in image communication using edge map wate...

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2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010

作者： Sodagari, Shabnam Hesami, Peyman Avanaki, Alireza Nasiri Electrical Engineering Dept. Pennsylvania State University University Park PA 16803 United States Control and Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran

ISBN: (纸本)9781424463503

We propose a novel error concealment algorithm to be used at the receiver side of a lossy image transmission system. Our algorithm involves hiding the edge map of the original image at the transmitter within itself using a robust watermarking scheme. At the receiver, wherever a lost block is detected, the extracted edge information is used as border constraint for the spatial smoothing employing the intact neighboring blocks in order to conceal errors. Simulation results show the superiority of our technique over existing methods even in case of high packet loss ratios in the communication network. © 2010 IEEE.

关键词： Edge detection

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An effective feature extraction method for facial expression recognition using adaptive Gabor wavelet

An effective feature extraction method for facial expression...

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2010 1st IEEE International Conference on Progress in Informatics and Computing, PIC 2010

作者： Oshidarit, Behzad Araabi, Babak N. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Eng. University of Tehran Tehran Iran Faculty of Engineering Islamic Azad University Science and Research Branch Tehran Iran

ISBN: (纸本)9781424467860

Feature extraction is an important and challenging phase of facial expression recognition problem. In this paper, an effective feature extraction method is proposed. Our facial feature representation method is based on an adaptive Gabor wavelet transform. In this method, we used a fuzzy controller for tuning the orientation parameter of filter. This filter can detect the most significant edges of facial images. Furthermore, the proposed adaptive filter improves the drawbacks of conventional Gabor filters. Nearest neighbor and multi-class Support Vector Machine (SVM) classifiers are applied for classification task. Experimental results on Japanese Female Facial Expression (JAFFE) database show that the proposed method can provide high recognition rate. The main advantage of proposed method over other methods is its flexibility. ©2010 IEEE.

关键词： Adaptive filters

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A robust adaptive sliding mode controller for robot manipulators 7

A robust adaptive sliding mode controller for robot manipula...

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7th Conference on Artificial Intelligence and Robotics, IRANOPEN 2017

作者： Gorji, Shaghayegh Yazdanpanah, Mohammad Javad Department of Electrical Biomedical and Mechatronics Qazvin Branch Islamic Azad University Qazvin Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781538628621

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of adaptation. The first one is related to the robot parameters and the other is accounted for perturbation estimating. A continuous controller is presented from the first step of design procedure. We try to prove the stability in the sense of lyapunov and derive adaptive laws and uniform ultimate boundedness in the worst condition. Simulation results for two degrees of freedom rigid robot manipulator effectively demonstrate the capability of mentioned approach. © 2017 IEEE.

关键词： Sliding mode control

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A novel method for Centromere and length detection in microscopic images of human chromosomes

A novel method for Centromere and length detection in micros...

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2011 18th Iranian Conference of Biomedical Engineering, ICBME 2011

作者： Jahani, Sahar Setarehdan, S. Kamaledin Faculty of Biomedical Engineering Science and Research Branch Islamic Azad University Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467310055

Many genetic disorders or abnormalities that may occur in the future generations can be predicted through analyzing the shape and morphological characteristics of the human chromosomes. This is usually carried out by an expert, inspecting the Karyotype of the patients. A Karyotype is a particular table that presents the chromosome images in a standard format. To generate a Karyotype, it is necessary to identify each of the 23 pairs of the chromosomes within the microscopic images first. The main step to automate this procedure is the definition of some morphological features for each chromosome. The most common features used for chromosomes identification includes the location of the Centromere and the length of the chromosome. Many other important features, such as Centromeric Index, are usually extracted from the Centromere and length. In this paper, a novel and effective algorithm for Centromere locating and length calculation for the human chromosomes is presented. The proposed algorithm uses the fact that the centromere is the narrowest part of the chromosome. By defining a gray level mask (GLM), which is a linearly varying gray level image along the chromosome longitudinal direction and multiplying it to the binary version of the chromosome image, it is shown that the global minimum in the histogram of the resulted image indicates the location of the centromere. The data set used in this work was provided by the Tesi-Imaging srl in Milan, Italy. A mean value of the absolute error of 3.6 and 5.2 pixels was obtained in identification of the chromosome centromere and length respectively by the proposed method. © 2011 IEEE.

关键词： Chromosomes

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Automatic Detection and Prediction of Paroxysmal Atrial Fibrillation based on Analyzing ECG Signal Feature Classification Methods

Automatic Detection and Prediction of Paroxysmal Atrial Fibr...

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Cairo International Biomedical Engineering Conference, CIBEC

作者： B. Pourbabaee C. Lucas Intelligent Center of Excellence: Control and Intelligent Processing Electrical and Computer Engineering University of Tehran Iran

Paroxysmal atrial fibrillation, a really life threatening disease, is the result of irregular and repeated depolarization of the atria. In this paper, an automatic detection and prediction of this critical disease is performed by the use of three groups of features extracted from different parts of ECG signals and classified by KNN, MLP and Bayes optimal classifiers. Finally, the health status of more than 90% of cases are diagnosed correctly and also it is possible to detect an ECG record far from the PAF onset from the one which is immediately before PAF onset in more than 70% cases.

关键词： Atrial fibrillation Signal analysis Electrocardiography Heart Signal processing Feature extraction Testing Cardiac disease Cardiovascular diseases Automatic control

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Optimal design of robust adaptive controllers: A QFT-EEAS based approach using random optimization techniques

Optimal design of robust adaptive controllers: A QFT-EEAS ba...

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5th International Conference on control and Automation, ICCA'05

作者： Sedigh, A. Khaki Namaki-Shoushtari, O. Araabi, B.N. Electrical Engineering Department K.N. Toosi University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

ISBN: (纸本)0780391381

Quantitative design of robust control systems proposes a transparent and practical controller design methodology for uncertain plants. In the case of large plant uncertainties, the resulted robust controller would be unnecessarily high order with large bandwidth. On the other hand, adaptive controllers can also tackle the control of unknown uncertain plants. However, the controller would be nonlinear and time varying. In this paper, a combined design methodology based on Quantitative Feedback Theory (QFT) and Externally Excited Adaptive System (EEAS) is proposed. This controller can handle large plant parameter uncertainties with lower bandwidth. Also, a random optimization technique is employed to optimally design the overall robust adaptive controller. Simulation results are used to show the effectiveness of the proposed design methodology. © 2005 IEEE.

关键词： Adaptive control systems

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