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Omid Mahmoudi,Farzin Piltan,Omid Reza Sadrnia,Mahdi Jafari,Mehdi Eram 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.1
Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a robust chattering free mathematical model-base artificial intelligence (fuzzy inference system) variable structure controller (MFVSC) for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, variable structure controller is selected. Pure variable structure controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. In order to reduce/eliminate the chattering, this research is used the artificial intelligence (fuzzy logic) theory. The results demonstrate that the model base fuzzy variable structure controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Lyapunov stability is proved in mathematical model-based fuzzy variable structure controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.9 second, steady state error = 1.6e-8 and RMS error=4.8e-8).
Design FPGA-Based CL-Minimum Control Unit
Farzin Piltan,Omid Avatefipour,Samira Soltani,Omid Mahmoudi,Mahmoud Reza Safaei Nasrabad,Mehdi Eram,Zahra Esmaeili,Sara Heidari,Kamran Heidari,Mohammad Mahidi Ebrahimi 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.1
Most of controllers need real time mobility operation so one of the most important devices which can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in a single chip Integrated Circuit (IC). To have higher implementation speed with good performance cMinimum Control Unit (MCU) is implemented on Spartan 3E FPGA using Xilinx software. Design a 4 bits Field Programmable Gate Array (FPGA)- based carry lookahead MCU is the main challenging works. MCU is control unit to control of data transfer between input and output and process the input data. In this research, MCU is used to control the 4 bits, Arithmetic Logic Unit (ALU). Combinational logic characterized by its propagation delay and contamination delay. To reduce the delay hardware description language (HDL) type of programming is very important. To reduce the route delay and logic delay, type of HDL design is very important. In this research, we used lookahead design, which reduce about 10% delay in comparison with ripple carry.