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A New Inverse Kinematics Method for Three Dimensional Redundant Manipulators
Haider A. F. Mohamed,Samer Yahya,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective for avoiding singularities. A comparison between the proposed manipulator and the PUMA manipulator has been carried out. The manipulability index of both manipulators has been calculated to show the effectiveness of the proposed method. Experiments have been conducted on three links manipulator.
Backstepping Sliding Mode Controller Design for a Flying Quadrotor
Haider A. F. Mohamed,H. M. A. A. Al-Assadi,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents the design of a backstepping sliding mode controller for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. This controller sets the quadrotor to fly to the desired three space positions (x, y, z) while controlling its yaw angle. In addition, the controller is designed to stabilize the pitch and roll angles. To ensure stability of the overall system, the backstepping controller is designed based on the Lyapunov stability theory. Various simulations of the model show that the control law stabilizes the quadrotor with good tracking. To verify the performance of the proposed backstepping controller, simulations using SIMULINK has been carried out. The simulation results show good performances.
Sensorless Fuzzy SMC for a Permanent Magnet Synchronous Motor
Haider A.F. Mohamed,S. S. Yang,M. Moghavvemi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents the design of a fuzzy logic sliding mode controller to control a permanent magnet synchronous motor. Fuzzy logic is introduced to the system to solve the chattering problem associated with sliding mode controllers. Based on the proposed switching surface, a switching control law that satisfies the hitting condition and guarantees the existence of the sliding mode is designed using Lyapunov theory. Then a fuzzy controller is designed based on the obtained stability conditions to decide how to activate the softening control action of the equivalent controller or the robust switching controller. To drive the motor sensorlessly, a sliding mode observer is designed. The effectiveness of the proposed controller is investigated through simulation.
Sliding Mode Controller Design for a Flying Quadrotor with Simplified Action Planner
Haider A.F. Mohamed,S. S. Yang,M. Moghavvemi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents the design of a set of sliding mode controllers for a quadrotor vertical take-off and landing (VTOL) unmanned air vehicle. To facilitate the design process of this under-actuated system, this paper proposes the use of a simple yet effective method to plan the action of each variable controller in the system and hence enhance the performance of the quadrotor. To stabilize the overall system, each sliding mode controller is designed based on the Lyapunov stability theory. Various simulations of the model show that the proposed control method stabilizes the quadrotor and achieves good tracking performance.
Identification of Piecewise affine Systems with Hysteresis Model
Masood Askari,Haider A. F. Mohamed,Mahmoud Moghavvemi,S. S. Yang 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A general nonlinear system can be identified as a piecewise affine system by approximating a nonlinear function using a piecewise affine one with arbitrary accuracy. In this paper, the problem of identifying discrete-time hybrid systems in the piecewise affine form where the discrete state depends on continuous state with a hysteresis function is addressed. The first step of the proposed identification method is the estimation of the local parameter vectors for small neighborhood of each measured data point. Then the local parameter vectors are clustered. Finally, the threshold levels of the hysteresis function which defines the discrete state are estimated.
Inverse Kinematics of an Equal Length Links Planar Hyper Redundant Manipulator Using Neural Networks
Samer Yahya,Haider A. F. Mohamed,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
An iterative method using the neural networks to solve the inverse kinematics problem for equal length links redundant manipulators is presented in this paper. The training phase, calculating the neural networks weights, is accomplished for a new proposed geometrical method to solve the problem of multi-solution caused by redundancy. The use of this geometrical method results in one solution among the infinite solutions of the inverse kinematics of theredundant manipulators. This method is very effective for avoiding the singularity problem because it guarantees that there is no lining up for two or more links. Another advantage for this method is that the angles between the links willbe set between two maximum and minimum values. This means that the end-effecter can reach any point on the desired path and the angles between the links will not be less than the minimum limit or more than the maximum limit, which makes this method effective for joint limits. To demonstrate the effectiveness of this proposed method, experiments were conducted on an 8 links hyper redundant manipulator in this paper. In addition, the workspace of the manipulator is calculated for this proposed method.
Application of Modified Model Predictive Control to a Gantry System
Masood Askari,Haider A. F. Mohamed,M. Moghavvemi,S. S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers in particular the design of a controller based on model predictive control and feedbacklinearization methods for gantry systems. In order to meet the operation requirements of fast anti-swaying and precisepositioning of gantry crane systems, a practical optimal control scheme is presented. This controller is designed toguarantee the performance in presence of a class of nonlinear dynamics. The controller is implemented on anexperimental rotary gantry system. The controller achieves good positioning accuracy and significant sway reduction.
Remote Control Management for Large Scale FM Transmitter Sites
S. S. Yang,Haider A. F. Mohamed,M. Moghavvemi,S. Bala Murali 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper proposes a PLC and SCADA based system for remote control management of Large Scale FM Transmitter Sites. FM Broadcasting began in Malaysia in the 70’. It provided improvements over AM broadcasting producing higher quality service to the listener. As the number of FM services has increased rapidly, the number of transmitter sites also increased. The need for monitoring the performance of transmitter site equipment such as electrical systems, generators, air conditioning system, fire system, transmitters, and communication systems is becoming critical as these sites are becoming larger and more sophisticated. The proposed system can be used to monitor, manage, control and measure transmitter site parameters and performance from a networked computer or a dial up computer. Status and alarms can be monitored in real time with theassistance of custom designed SCADA system. If faults are detected at transmitter sites, the PLC formulates and sends the corresponding alarm codes to a centralized control centre. The system was set up and tested through rigorous simulations of the transmitter site failures and evaluated for seven months. The proposed system has been installed and continuously operated on live FM transmission system.
Load Frequency Control of Power Systems with Sugeno Fuzzy Gain Scheduling PID Controller
Lokman H. Hassan,Haider A.F. Mohamed,M. Moghavvemi,S.S. Yang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a new Fuzzy Gain Scheduled Proportional, Integral and Derivative (FGPID) controller by using Takagi-Sugeno (TS) fuzzy system to the load frequency control problem in multi-area power systems. The TS fuzzy inference engine is chosen and the range of the controller is selected suitably to enhance the output performance of the system. Simulation results demonstrate the ability of the proposed control model in damping the frequency oscillations and tie line power deviations due to area load changes. The approach is compared against two controllers in the literature; Fuzzy Gain Scheduling Integral and Derivative (FGID) controller, and Fuzzy Gain Scheduling Proportional and Integral (FGPI) controller. Settling times, overshoots, undershoots and Integral Square Error (ISE) of frequency deviation are used as comparison criteria. Nonlinear simulation results show that the proposed controller provides better performance than the other two models.
Real-time Model Based Sensor Fault Tolerant Control System On a Chip
S. S. Yang,Haider A. F. Mohamed,M. Moghavvemi,P. H. Ng 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we proposed a model based sensor fault tolerant control system embedded in a generic PIC microcontroller for use in a temperature control system. The model based fault tolerant control algorithm is embeddedin the microcontroller for stand-alone real?time implementation. The algorithm consists of a PID controller element (for nominal control) and a fault compensating element. Results from simulations and real time implementation areshown to demonstrate the ease of real time implementation.