High-precision positioning of two underwater mobile robots is investigated in this work. To achieve good performance communication, control algorithms are implemented to maintain the position receiver robot aligned with that transmitter presence measurement noise and process uncertainty. Although recent research works have successfully integrated Extended Kalman Filter (EKF) estimator track des...

In this research, a proportional integral derivative regulator, first-order sliding-mode and second-order regulator are compared, for the regulation of two different types mathematical model. A is method where sign-mapping checks that error decays to zero after convergence time; it has problem chattering in output. smooth counteract effect used. presented as new class algorithm trajectory asymp...

this paper presents a self-tuning pid (proportional and integral and derivative) controller for regulating terminal voltage synchronous generators. in order to modify the system reponse and to overcome the difficulties of self tuning controllers, a dual rate sampling control system was used. system results demonstrated usfulness of the proposed regulator. the designed controller is simple and c...

An unmanned free-swimming submersible (UFSS) is designed to perform certain tasks in water without interposing humans. The vehicle’s control achieved by integrating mathematical (analog) and non-mathematical (embedded) controllers. main goal of integrated controllers overcome the environmental disturbances noise sensor data. These disturbances, as well data, are generated during steering, divin...

This study investigates the efficacy of optimal semi-active dampers for achieving the best results in seismic response mitigation of adjacent buildings connected to each other by magnetorheological (MR) dampers under earthquakes. One of the challenges in the application of this study is to develop an effective optimal control strategy that can fully utilize the capabilities of the MR dampers. H...

<p>A two-wheeled self-balancing robot (TWSBR) is an underactuated system that inherently nonlinear and unstable. While many control methods have been introduced to enhance the performance, there no unique solution when it comes hardware implementation as robot’s stability highly dependent on accuracy of sensors robustness electronic systems. In this study, a TWSBR controlled by embedded N...

This paper presents a study of control strategies for 5-phase permanent magnet synchronous motors (PMSMs) supplied by five-leg voltage source inverter. Based on the vectorial decomposition multi-phase machine, fictitious machines, magnetically decoupled, allow more adequate control. In this paper, our focuses vector machine using linear proportional-integral-derivative (PID) current regulator i...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based control...