in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown phases and magnitudes and known frequencies. We design a distributed control law that recovers the synchronization of the nonlinear systems in the presence of ...

In this article, based on the Euler-Bernoulli beam theory, the large-amplitude vibration of multiwalled carbon nanotubes embedded in an elastic medium is investigated. The method of incremental harmonic balance is implemented to solve the set of governing nonlinear equations coupled via the van der Waals (vdW) interlayer force. The influences of number of tube walls, the elastic medium, nanotub...

The main aim of the present study is to optimize steel moment frames in the framework of performance-based design and to assess the seismic collapse capacity of the optimal structures. In the first phase of this study, four well-known metaheuristic algorithms are employed to achieve the optimization task. In the second phase, the seismic collapse safety of the obtained optimal designs is evalua...

This study aims to develop seismic fragility curves for a typical pile-supported wharf. Fragility curve is one of the popular tools in seismic performance evaluation of a structure. The software FLAC2D was used to simulate the seismic performance of the wharf structure. Using eight time history records, occurred in past, as seismic loading, incremental dynamic analysis (IDA) was applied for sei...