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Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot

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Journal of Systems Science & Complexity 2020年第5期33卷 1310-1329页

作者： JALAEIAN-F.Mohsen fateh mohammad mehdi RAHIMIYAN Morteza Department of Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

As an innovative concept,an optimal predictive impedance controlle is introduced here to control a lower limb rehabilitation robo in the presence of *** desired impedance law is considered to propose a conventional model-based impedance controller for the ***,external disturbances,model imperfection,and parameters uncertainties reduce the performance of the controller in *** order to cope with these uncertainties,an optimal predictive compensator is introduced as a solution for a proposed convex optimization problem,which is performed on a forward finite-length *** a result,the LLRR has the desired behavior even in an uncertain *** performance and efficiency of the proposed controller are verified by the simulation results.

关键词： Impedance control lower limb rehabilitation robots model predictive compensator optimal predictive impedance controller optimization in the presence of uncertainty

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

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International Journal of Automation and computing 2013年第1期10卷 64-72页

作者： mohammad mehdi fateh Sara fateh Department of Electrical and Robotic Engineering Shahrood University of Technology

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.

关键词： Precise performance fuzzy control robot manipulator voltage control strategy convergence analysis stability analysis

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

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International Journal of Automation and computing 2013年第5期10卷 472-480页

作者： mohammad mehdi fateh Maryam Baluchzadeh Department of Electrical and Robotic Engineering Shahrood University of Technology

Discrete linear quadratic control has been efciently applied to linear systems as an optimal ***,a robotic system is highly nonlinear,heavily coupled and *** overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive *** modeling motivates us to develop an optimal repetitive *** contribution of this paper is *** the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned *** proposed control approach is based on the voltage control ***,uncertainty is efectively compensated by employing a robust time-delay *** uncertainty can include parametric uncertainty,unmodeled dynamics and external *** highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control *** analysis verifes the proposed control approach and simulation results show its efectiveness.

关键词： Discrete linear quadratic control repetitive control electrically driven robot robust time-delay controller uncertainty

Guaranteed-stability adaptive fuzzy control of a hydraulic elevator

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International Journal of Intelligent Computing and Cybernetics 2013年第3期6卷 252-271页

作者： mohammad mehdi fateh Mohaddeseh Amerian Department of Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

Purpose-A hydraulic elevator including the hydraulic actuator and cabin is highly nonlinear with many parameters and *** state-space model is in non-companion form and uncertain due to the parametric errors,flexibility of the ropes,friction and external load disturbances.A model-based control cannot perform well while a precise model is not available and all state variables cannot be *** overcome the problems,this paper aims to develop a direct adaptive fuzzy control(DAFC)for the hydraulic ***/methodology/approach-The controller is an adaptive PD-like Mamdani type fuzzy controller using position error and velocity error as *** design is based on the stability ***-The proposed control can overcome uncertainties,guarantee stability,provide a good tracking performance and operate as active vibration suppression by tracking a smooth *** controller is not involved in the nonlinearity,uncertainty and vibration of the system due to being free from *** performance is superior to a PD-like fuzzy controller due to being adaptive as illustrated by ***/value-The proposed DAFC is applied for the first time on the hydraulic *** to classic adaptive fuzzy,it does not require all system *** addition,it is not limited to the systems,which have the state-space model in companion form and constant input gain,thus is much less computational and easier to implement.

关键词： Nonlinear control Adaptive control Fuzzy logic Intelligent control

Discrete-time indirect adaptive fuzzy control for robot manipulators

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International Journal of Intelligent Computing and Cybernetics 2014年第4期7卷 382-396页

作者： mohammad mehdi fateh Siamak Azargoshasb Department of Electrical Engineering University of ShahroodShahroodIran

Purpose–The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic *** paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic *** uncertainties include parametric uncertainty,un-modeled dynamics,discretization error and external ***/methodology/approach–The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy *** parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory.A robust control term is used to compensate the approximation error of the fuzzy *** adaptive mechanism is derived based on the stability ***–The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and *** approximation error of the fuzzy system is well compensated to achieve asymptotic tracking of the desired *** analysis and simulation results show its efficiency in the tracking ***/value–A novel discrete indirect adaptive fuzzy controller is designed for electrically driven robot manipulators using the voltage control *** novelty of this paper is compensating the approximation error of the fuzzy system and discretizing error for asymptotic tracking of the desired trajectory.

关键词： Nonlinear control Fuzzy logic Intelligent control Robotics Adaptive control

Voltage control strategy for an uncertain mobile robot

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International Journal of Intelligent Computing and Cybernetics 2014年第4期7卷 436-452页

作者： mohammad mehdi fateh Ali Asghar Arab Department of Electrical Engineering University of ShahroodShahroodIran Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

Purpose–The uncertainty and nonlinearity are the challenging problems for the control of a nonholonomic wheeled mobile *** overcome these problems,many valuable methods have been proposed by using two control loops namely the kinematic control and the torque control so *** majority of the proposed approaches the dynamics of actuators is omitted for simplicity in the control *** drawback degrades the control performance in high-velocity tracking *** the other hand,to guarantee stability and overcome uncertainties,the control methods become computationally extensive and may be impractical due to using all *** purpose of this paper is to design a simple controller with guaranteed stability for overcoming the nonlinearity,uncertainty and actuator ***/methodology/approach–The control design includes two control loops,the kinematic control loop and the novel dynamic control *** dynamic control loop uses the voltage control strategy instead of the torque control *** of the robot orientation,robot position,robot linear and angular velocity,and motor currents are given to the control ***–To improve the precision,the dynamics of motors are taken into *** most important advantages of the proposed control law is that it is free from the robot dynamics,thereby the controller is simple,fast response and robust with ignorable tracking *** control approach is verified by stability *** results show the effectiveness of the proposed control applied on an uncertain nonholonomic wheeled mobile robot driven by permanent magnet dc motors.A comparison with an adaptive sliding-mode dynamic control approach confirms the superiority of the proposed approach in terms of precision,simplicity of design and ***/value–The originality of the paper is to present a new control design for an uncertain nonholonomic wheeled mobile robot by using voltage control strategy in replac

关键词： Nonlinear control Robust control Actuator dynamics Nonholonomic wheeled robot Robotics

Type-2 Fuzzy Control for a Flexible-joint Robot Using Voltage Control Strategy

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International Journal of Automation and computing 2013年第3期10卷 242-255页

作者： Majid Moradi Zirkohi mohammad mehdi fateh Mahdi Aliyari Shoorehdeli Department of Electrical and Robotic Engineering Shahrood University of Technology Department of Electrical Engineering Khaje Nasir Toosi University of Technology

ype-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller （IT2FLC） to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization （PSO）. A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller （T1FLC） is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.

关键词： Type-2 fuzzy controller flexible-joint robots voltage control strategy particle swarm optimization (PSO) actuator.

Mixed Convection in a Two-Sided Lid-Driven Square Cavity Filled with Different Types of Nanoparticles:A Comparative Study Assuming Nanoparticles with Different Shapes

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Fluid Dynamics & Materials Processing 2021年第4期17卷 789-819页

作者： Mostafa Zaydan mehdi Riahi fateh Mebarek-Oudina Rachid Sehaqui Laboratory of Mechanics Faculty of Sciences Aïn-ChockUniversity Hassan IICasablancaMorocco Department of Mechanical Engineering Royal Air SchoolMarrakech40002Morocco Department of Physics Faculty of SciencesUniversity 20 August 1955Skikda21000Algeria

Steady,laminar mixed convection inside a lid-driven square cavity filled with nanofluid is investigated numeri*** consider the case where the right and left walls are moving downwards and upwards respectively and maintained at different temperatures while the other two horizontal ones are kept adiabatic and *** set of nonlinear coupled governing mass,momentum,and energy equations are solved using an extensively validated and a highly accurate finite difference method of *** with previously conducted investigations on special configurations are performed and show an excellent ***,attention is focused on the heat transfer enhancement when different nano-particles:Cu,Ag,Al2O3,TiO2 and Fe3O4 are incorporated separately in different base fluids such as:Water,Ethylene-glycol,Methanol and Kerosene *** this framework,the numerical results related to several mixtures are presented and concern flow pattern and heat transfer curves for various values of Richardson number[Ri=0.1,1 and 10].It turns out that the choice of the efficient binary mixture for an optimal heat transfer depends not only on the thermophysical properties of the nanofluids but also on the range of the Richardson *** attention is devoted to shedding light on the effect of the shape of the nanoparticles on the heat transfer in the case of Water-Ag *** is concluded that the spherical shape is more suitable for a better heat transfer enhancement in comparison to the cylindrical ones.

关键词： Nanofluids mixed convection lid-driven square cavity numerical simulation

Parameter Identification Based on a Modified PSO Applied to Suspension System

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Journal of Software Engineering and Applications 2010年第3期3卷 221-229页

作者： Alireza Alfi mohammad-mehdi fateh Faculty of Electrical and Robotic Engineering Shahrood University of Technology Shahrood Iran Faculty of Electrical and Robotic Engineering Shahrood University of Technology Shahrood Iran.

This paper presents a novel modified particle swarm optimization algorithm (MPSO) for both offline and online parametric identification of dynamic models. The MPSO is applied for identifying a suspension system introduced by a quarter-car model. A novel mutation mechanism is employed in MPSO to enhance global search ability and increase convergence speed of basic PSO (BPSO) algorithm. MPSO optimization is used to find the optimum values of parameters by minimizing the sum of squares error. The performance of the MPSO is compared with other optimization methods including BPSO and Genetic Algorithm (GA) in offline parameter identification. The simulating results show that this algorithm not only has advantage of convergence property over BPSO and GA, but also can avoid the premature convergence problem effectively. The MPSO algorithm is also improved to detect and determine the variation of parameters. This novel algorithm is successfully applied for online parameter identification of suspension system.

关键词： Particle Swarm Optimization Genetic Algorithm Parameter Identification Suspension System