Scholarly

Fuzzy Separation Bearing Control for Mobile Robots Formation

Year: 2007 Volume: 1 Issue: 5 265 - 270 Pages

Abstract: In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.

Finite Element Solution of Navier-Stokes Equations for Steam Flow and Heat Transfer

Year: 2007 Volume: 1 Issue: 5 260 - 264 Pages

Abstract: Computational simulation of steam flow and heat transfer in power plant condensers on the basis of the threedimensional mathematical model for the flow through porous media is presented. In order to solve the mathematical model of steam flow and heat transfer in power plant condensers, the Streamline Upwind Petrov-Galerkin finite element method is applied. By comparison of the results of simulation with experimental results about an experimental condenser, it is confirmed that SUPG finite element method can be successfully applied for solving the three-dimensional mathematical model of steam flow and heat transfer in power plant condensers.

Adaptive Integral Backstepping Motion Control for Inverted Pendulum

Year: 2007 Volume: 1 Issue: 5 256 - 259 Pages

Authors:
Ö. Tolga Altınöz

Abstract: The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].

Classic and Heuristic Approaches in Robot Motion Planning A Chronological Review

Year: 2007 Volume: 1 Issue: 5 250 - 255 Pages

Abstract: This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year period, from classic approaches to heuristic algorithms. Due to the NP-Hardness of the MP problem, heuristic methods have outperformed the classic approaches and have gained wide popularity. After surveying around 1400 papers in the field, the amount of existing works for each method is identified and classified. Especially, the history and applications of numerous heuristic methods in MP is investigated. The paper concludes with comparative tables and graphs demonstrating the frequency of each MP method's application, and so can be used as a guideline for MP researchers.

A Variable Structure MRAC for a Class of MIMO Systems

Year: 2007 Volume: 1 Issue: 5 244 - 249 Pages

Authors:
Ardeshir Karami Mohammadi

Abstract: A Variable Structure Model Reference Adaptive Controller using state variables is proposed for a class of multi input-multi output systems. Adaptation law is of variable structure type and switching functions is designed based on stability requirements. Global exponential stability is proved based on Lyapunov criterion. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time.

Helicopter Adaptive Control with Parameter Estimation Based on Feedback Linearization

Year: 2007 Volume: 1 Issue: 5 238 - 243 Pages

Abstract: This paper presents an adaptive feedback linearization approach to derive helicopter. Ideal feedback linearization is defined for the cases when the system model is known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the inherent uncertainty in the knowledge of the given parameters of system. The control algorithm is implemented using the feedback linearization technique and adaptive method. The controller parameters are unknown where an adaptive control law aims to drive them towards their ideal values for providing perfect model matching between the reference model and the closed-loop plant model. The converged parameters of controller would then provide good estimates for the unknown plant parameters.

Intelligent ABS Fuzzy Controller for Diverse RoadSurfaces

Year: 2007 Volume: 1 Issue: 5 232 - 237 Pages

Abstract: Fuzzy controllers are potential candidates for the control of nonlinear, time variant and also complicated systems. Anti lock brake system (ABS) which is a nonlinear system, may not be easily controlled by classical control methods. An intelligent Fuzzy control method is very useful for this kind of nonlinear system. A typical antilock brake system (ABS) by sensing the wheel lockup, releases the brakes for a short period of time, and then reapplies again the brakes when the wheel spins up. In this paper, an intelligent fuzzy ABS controller is designed to adjust slipping performance for variety of roads. There are tow major sections in the proposing control system. First section consists of tow Fuzzy-Logic Controllers (FLC) providing optimal brake torque for both front and rear wheels. Second section which is also a FLC provides required amount of slip and torque references properties for different kind of roads. Simulation results of our proposed intelligent ABS for three different kinds of road show more reliable and better performance in compare with two other break systems.

Stabilizer Fillet Weld Strength under Multiaxial Loading (Effect of Force, Size and Residual Stress)

Year: 2007 Volume: 1 Issue: 5 224 - 231 Pages

Abstract: In this paper, the strength of a stabilizer is determined when the static and fatigue multiaxial loading are applied. Stabilizer is a part of suspension system in the heavy truck for stabilizing the cabin against the vibration of the road which composes of a thin-walled tube joined to a forge component by fillet weld. The component is loaded by non proportional random sequence of torsion and bending. Residual stress of welding process is considered here for static loading. This static loading with road irregularities are applied in this study as fatigue case that can affected in the fillet welded area of this part. The stresses in the welded structure are calculated using FEA. In addition, the fatigue with multi axial loading in the fillet weld is also investigated and the critical zone of the stabilizer is specified and presented by graphs. Residual stresses that have been resulted by the thermal forces are considered in FEA. Force increasing is the element of finding the critical point of the component.

Fuzzy Boundary Layer Solution to Nonlinear Hydraulic Position Control Problem

Year: 2007 Volume: 1 Issue: 5 221 - 223 Pages

Authors:
Mustafa Resa Becan

Abstract: Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achieved by tuning the fuzzy scaling factors properly.

The Analysis of Radial/Axial Error Motion on a Precision Rotation Stage

Year: 2007 Volume: 1 Issue: 5 216 - 220 Pages

Abstract: Rotating stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor state of manufactured goods. To evaluate and improve the performance of such precision rotary stage, unessential movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of a rotating stage with high precision capacitive sensors. To obtain the radial error motion from T.I.R (Total Indicated Reading) of radial direction, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have defined and measured the sensitivity of positioning error to the five error motions.

International Journal of Mechanical, Industrial and Aerospace Sciences

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