The dynamic characteristics of deflectable nose missiles with rotary single-channel control were investigated in this paper. Firstly, the effective angle of attack, effective angle of sideslip and quasi-body coordinates were introduced based on the spin characteristics of the missile’s body. Secondly, considering the interaction between the missile’s nose and body, the rigid kinetic model of mi...

An epidemic model with optimal control strategies was investigated for Hepatitus C Viral disease that can be transmitted through infected individuals. In this study, we used a deterministic compartmental model for assessing the effect of different optimal control strategies for controlling the spread of Hepatitus C disease in the community. Stability theory of differential equations is us...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...