In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

this paper considers the problem of stable limit cycles generating in a class of uncertain nonlinear systems which leads to stable oscillations in the system’s output.this is a wanted behavior in many practical engineering problems. for this purpose, first the equation of the desirable limit cycle is achieved according to shape, amplitude and frequency of the required output oscillations. then,...

In this paper, a method is introduced which reduces the harmonicdistortion of the inverter output current, connecting the fuelcell to the AC load. Using FUZZY LOGIC-PI (FLPI), the controllingmethod is engaged in optimum tuning of the PI controllercoefficients of this converter. This converter has only one DC-ACboost inverter and simultaneously has the task of increasingvoltage level and generat...

In this paper, an efficient method is presented to control the attitude of a satellite with ON-OFF actuator. The main objective of this novel method is to control the amplitude of the limit cycle which commonly appears in the steady state of such systems; and at the same time by consideration of real actuator constraints, reduce the fuel consumption of system. The Proposed method is a combinati...

In this paper, a model for closed loop solar system is presented and an attempt is made to generalize the model to be utilized for primary design of any solar active thermal system. This model may be used for systems in which gas or a liquid are fluids that flow. Two new parameters, namely, the system heat delivery factor and the system heat absorption factor are introduced in the model. These ...

as motorcycles are named as one of the important air pollution emission sources in tehran, investigating their emission performance and finding a solution for reducing their emission is of high importance. in this study, emission factors from 60 motorcycles from tehran’s present fleet and 4 closed loop injection fuel supply system and catalytic converter equipped motorcycles were measured. meas...

This paper presents a new observer based fuzzy terminal sliding mode controller design for a class of fractional order nonlinear systems. Robustness against uncertainty and disturbance, the stability of the close loop system and the convergence of both the tracking and observer errors to zero are the merits of the proposed the observer and the controller. The high gain observer is applied to es...

Unlike the existing views that was introduced the existence of delay caused by the transmission of wide area measurement system data (WAMS) into the controllers input of the power oscilation damping (POD) by communication networks as a reason for poor performance of the POD controllers. This paper shows that the presence of time delay in the feedback loop may improve the performance of a POD co...