Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a model-free linear error-based tuning computed torque controller for highly nonlinear dynamic second order system, in presence of uncertainties. In order to provide high performance nonlinear methodology, computed torque controller is selected. Pure computed torque controller can be used to control of partly known nonlinear dynamic parameters of nonlinear systems. Conversely, pure computed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, model-free performance/error-based linear methodology with three inputs and one output is applied to pure computed torque controller. The results demonstrate that the error-based linear tuning computed torque controller is a model-based controllers which works well in certain and uncertain system. Pure computed torque controller has difficulty in handling unstructured model uncertainties. To solve this problem applied linear model-free error -based tuning method to computed torque controller for adjusting the linear inner loop gain (K ). Since the linear inner loop gain (K) is adjusted by linear error-based tuning method, it is linear and continuous. In this research new K is obtained by the previous K multiple gain updating factor (á) which is a coefficient varies between half to two.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
This document describes a novel adaptive feedback linearization fuzzy controller for robot manipulators. It begins by discussing limitations of traditional feedback linearization controllers, such as sensitivity to parameter uncertainty. It then proposes designing a feedback linearization fuzzy controller to address this issue. The key steps are: 1) designing the fuzzy controller, including fuzzifying inputs/outputs and developing a rule base, 2) developing an adaptive feedback linearization fuzzy controller by adding an adaptive law to tune fuzzy rule parameters online and improve disturbance rejection. The goal is to develop a robust position controller for robot manipulators that maintains acceptable performance despite nonlinearities and uncertainty.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain (K_p,K_v ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
The document describes research on designing artificial nonlinear robust controllers for robot manipulators. It discusses two classical nonlinear robust controllers - sliding mode controller (SMC) and computed torque controller (CTC) - and their limitations when applied to systems with uncertainties. It then proposes applying fuzzy logic methodology to these classical controllers to reduce their limitations. Specifically, it develops a fuzzy sliding mode controller with tunable gain (GTFSMC) and a computed torque-like controller with tunable gain (GTCTLC) that use fuzzy logic rules to eliminate the mathematical nonlinear dynamics and reduce chattering through optimization of the tunable gain parameter. The controllers aim to achieve satisfactory performance for robot manipulators operating in unknown environments with uncertainties and disturbances.
Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunabl...Waqas Tariq
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., internal combustion engine) is one of the most important challenging works. This paper focuses on the comparative study between two important nonlinear controllers namely; computed torque controller (CTC) and sliding mode controller (SMC) and applied to internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure SMC and CTC can be used to control of partly known nonlinear dynamic parameters of IC engine. Pure sliding mode controller and computed torque controller have difficulty in handling unstructured model uncertainties. To solve this problem applied linear error-based tuning method to sliding mode controller and computed torque controller for adjusting the sliding surface gain (ë ) and linear inner loop gain (K). Since the sliding surface gain (ë) and linear inner loop gain (K) are adjusted by linear error-based tuning method. In this research new ë and new K are obtained by the previous ë and K multiple gains updating factor(á). The results demonstrate that the error-based linear SMC and CTC are model-based controllers which works well in certain and uncertain system. These controllers have acceptable performance in presence of uncertainty.
In this research, a model free sliding mode fuzzy adaptive inverse dynamic fuzzy controller (SMFIDFC) is designed for a robot manipulator to rich the best performance. Inverse dynamic controller is considered because of its high performance in certain system. Fuzzy methodology has been included in inverse dynamic to keep away from design nonlinear controller based on dynamic model. Sliding mode fuzzy adaptive methodology is applied to model free controller to have better result in presence of structure and unstructured uncertainties. Besides, this control method can be applied to non-linear systems easily. Today, strong mathematical tools are used in new control methodologies to design adaptive nonlinear controller with satisfactory output results (e.g., minimum error, good trajectory, disturbance rejection).
Methodology of Mathematical error-Based Tuning Sliding Mode ControllerCSCJournals
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á). Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
Design Auto Adjust Sliding Surface Slope: Applied to Robot ManipulatorWaqas Tariq
The main target in this paper is to present the nonlinear methods in order to control the robot manipulators and also the related results. Also the important role of sliding surface slope in sliding mode fuzzy control of robot manipulator should be considered. Sliding mode controller (SMC) is a significant nonlinear controller in certain and uncertain dynamic parameters systems. To solve the chattering phenomenon, this paper complicated two methods to each other; boundary layer method and applied fuzzy logic in sliding mode methodology. To remove the chattering sliding surface slope also played important role so this paper focused on the auto tuning this important coefficient to have the best results by applied mathematical model free methodology. Auto tuning methodology has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot ManipulatorCSCJournals
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017).
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
This document describes a novel adaptive feedback linearization fuzzy controller for robot manipulators. It begins by discussing limitations of traditional feedback linearization controllers, such as sensitivity to parameter uncertainty. It then proposes designing a feedback linearization fuzzy controller to address this issue. The key steps are: 1) designing the fuzzy controller, including fuzzifying inputs/outputs and developing a rule base, 2) developing an adaptive feedback linearization fuzzy controller by adding an adaptive law to tune fuzzy rule parameters online and improve disturbance rejection. The goal is to develop a robust position controller for robot manipulators that maintains acceptable performance despite nonlinearities and uncertainty.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain (K_p,K_v ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
The document describes research on designing artificial nonlinear robust controllers for robot manipulators. It discusses two classical nonlinear robust controllers - sliding mode controller (SMC) and computed torque controller (CTC) - and their limitations when applied to systems with uncertainties. It then proposes applying fuzzy logic methodology to these classical controllers to reduce their limitations. Specifically, it develops a fuzzy sliding mode controller with tunable gain (GTFSMC) and a computed torque-like controller with tunable gain (GTCTLC) that use fuzzy logic rules to eliminate the mathematical nonlinear dynamics and reduce chattering through optimization of the tunable gain parameter. The controllers aim to achieve satisfactory performance for robot manipulators operating in unknown environments with uncertainties and disturbances.
Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunabl...Waqas Tariq
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., internal combustion engine) is one of the most important challenging works. This paper focuses on the comparative study between two important nonlinear controllers namely; computed torque controller (CTC) and sliding mode controller (SMC) and applied to internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure SMC and CTC can be used to control of partly known nonlinear dynamic parameters of IC engine. Pure sliding mode controller and computed torque controller have difficulty in handling unstructured model uncertainties. To solve this problem applied linear error-based tuning method to sliding mode controller and computed torque controller for adjusting the sliding surface gain (ë ) and linear inner loop gain (K). Since the sliding surface gain (ë) and linear inner loop gain (K) are adjusted by linear error-based tuning method. In this research new ë and new K are obtained by the previous ë and K multiple gains updating factor(á). The results demonstrate that the error-based linear SMC and CTC are model-based controllers which works well in certain and uncertain system. These controllers have acceptable performance in presence of uncertainty.
In this research, a model free sliding mode fuzzy adaptive inverse dynamic fuzzy controller (SMFIDFC) is designed for a robot manipulator to rich the best performance. Inverse dynamic controller is considered because of its high performance in certain system. Fuzzy methodology has been included in inverse dynamic to keep away from design nonlinear controller based on dynamic model. Sliding mode fuzzy adaptive methodology is applied to model free controller to have better result in presence of structure and unstructured uncertainties. Besides, this control method can be applied to non-linear systems easily. Today, strong mathematical tools are used in new control methodologies to design adaptive nonlinear controller with satisfactory output results (e.g., minimum error, good trajectory, disturbance rejection).
Methodology of Mathematical error-Based Tuning Sliding Mode ControllerCSCJournals
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á). Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
Design Auto Adjust Sliding Surface Slope: Applied to Robot ManipulatorWaqas Tariq
The main target in this paper is to present the nonlinear methods in order to control the robot manipulators and also the related results. Also the important role of sliding surface slope in sliding mode fuzzy control of robot manipulator should be considered. Sliding mode controller (SMC) is a significant nonlinear controller in certain and uncertain dynamic parameters systems. To solve the chattering phenomenon, this paper complicated two methods to each other; boundary layer method and applied fuzzy logic in sliding mode methodology. To remove the chattering sliding surface slope also played important role so this paper focused on the auto tuning this important coefficient to have the best results by applied mathematical model free methodology. Auto tuning methodology has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot ManipulatorCSCJournals
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017).
A New Estimate Sliding Mode Fuzzy Controller for Robotic ManipulatorWaqas Tariq
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
This document presents research on sensorless speed control of an induction motor using predictive current and torque controllers. It begins with an abstract summarizing the research, which involves using a closed-loop observer system and predictive controllers to control an induction motor drive without requiring direct measurement of motor speed or flux. The document then provides background information on sensorless induction motor control and challenges associated with it. It describes the proposed control system, which uses a closed-loop observer to estimate motor flux and speed, along with a predictive current controller and predictive torque controller. Simulation results are presented confirming the effectiveness of the proposed sensorless control approach.
Identification and Real Time Control of a DC MotorIOSR Journals
This document presents a method for identifying and controlling a DC motor. It describes an experimental setup using sensors to measure the motor's speed. A parametric estimation method called PEM is used to identify the dynamic model of the motor based on input-output data. The identified model is validated via simulation. Then, an optimal linear quadratic regulator (LQR) controller is designed using the identified model to control the motor's speed and position. Simulations and experiments show the controller is able to track step and square wave position and velocity commands.
STATOR FLUX OPTIMIZATION ON DIRECT TORQUE CONTROL WITH FUZZY LOGIC cscpconf
This document summarizes a research paper that proposes a fuzzy logic based stator flux optimization technique for direct torque control (DTC) drives. The technique uses a fuzzy logic controller to self-regulate the stator flux reference based on the torque error and initial flux value without requiring motor parameters. Simulations show the proposed fuzzy logic approach reduces torque ripple compared to conventional DTC, especially at low loads. Key advantages of the fuzzy approach include improved performance and robustness to parameter changes without motor details.
This document presents a method for tuning the parameters of a PID controller for a brushless DC motor using particle swarm optimization. PSO is used to find the optimal proportional, integral and derivative gains to minimize error metrics for the motor's step response. The BLDC motor is modeled in Simulink. PSO searches through potential solutions in a multi-dimensional space to determine PID parameters that produce the best step response with minimal overshoot, rise time, settling time and steady state error. The results show the PSO-tuned PID controller achieves better dynamic performance than other methods.
PI controller design for indirect vector controlled induction motorISA Interchange
Decoupling of the stator currents is important for smoother torque response of indirect vector controlled induction motors. Typically, feedforward decoupling is used to take care of current coupling that requires exact knowledge of motor parameters, additional circuitry and signal processing. In this paper, a method is proposed to design the regulating proportional-integral gains that minimize coupling without any requirement of the additional decoupler. The variation of the coupling terms for change in load torque is considered as the performance measure. An iterative linear matrix inequality based H∞ control design approach is used to obtain the controller gains. A comparison between the feedforward and the proposed decoupling schemes is presented through simulation and experimental results. The results show that the proposed scheme is simple yet effective even without additional block or burden on signal processing.
Advance Current Monitoring Techniques to Detect and Diagnosis the Inter-Turn ...theijes
This paper presents the results of stator inter-turn fault detection and diagnosis in three phase induction motor using different types of current monitoring techniques such as: motor current signature analysis (MCSA), Current Concordia Vector, extend park vector approach (EPVA). Where the use of several signal processing techniques for extracting more information about the fault, will help us knowing the characteristics of each method in order to choose the best way to diagnose this type of machine fault. The tests show that the EPVA technique can diagnose the inter-turn fault with high accuracy compared with the other techniques. Because there is a similarity between the inter-turn frequency component and other machine faults frequency components (mixed air gap eccentricity, unbalance supply voltage) resulting a wrong discussion about the machine condition.
This document reviews sliding mode observers for sensorless control of permanent magnet synchronous motor drives. It begins with an introduction to permanent magnet synchronous motors and their advantages over other motor types. It then discusses speed estimation schemes for sensorless PMSM drives, including adaptive methods using observers like Luenberger observers and sliding mode observers. The document focuses on sliding mode observers, explaining conventional sliding mode observers, observers using a sigmoid function instead of a signum function to reduce chattering, and terminal sliding mode observers. Sliding mode observers are widely used for sensorless control due to their robustness to parameter variations and simplicity.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.
The speed estimation technique of induction machines has become a non-trivial task. For estimating the speed of an induction motor precisely and accurately an optimum state estimator is necessary. This paper deals with the performance analysis of induction motor drives using a recursive, optimum state estimator. This technique uses a full order state space Extended Kalman Filter (EKF) model where the rotor flux, rotor speed and stator currents are estimated. A major challenge with induction motor occurs at very low and at near zero speed. In such cases, information about the rotor parameters with respect to stator side become unobservable while using the synchronously rotating reference frame. To overcome this lost coupling effect, EKF observer linearizes the non-linear parameter in every sampling period and estimates the states and machine parameters simultaneously. The proposed algorithm is tuned to obtain least error in estimated speed. Any error found is further optimized using a non-linear fuzzy controller to obtain improved performance of the drive.
Investigation of Artificial Neural Network Based Direct Torque Control for PM...cscpconf
This paper investigates solution for the chronically and the biggest problem of direct torque control scheme: high torque ripple. Otherwise, another main problem faced in direct torque control method is difficulties due to complex algorithm to get high performance control for industrial motors. The purpose of this paper is to simplify the control structure by using artificial neural networks learning abilities and to investigate the affects of this structure on torque performance of motor. For this purpose, two different artificial neural networks have been suggested replacing the optimal switching vector selection and flux sector determination process of conventional direct torque control method. Matlab/Simulink based numerical simulations have been carried out to compare motor performances with conventional control structure and proposed artificial neural network based structure. It has been observed that the dynamic response of motor is faster and torque ripple and the controller complexity of the conventional control system has been reduced with the proposed technique.
Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding M...Waqas Tariq
The document describes a novel adaptive sliding mode fuzzy PD fuzzy sliding mode control algorithm for position control of robot manipulators. The algorithm uses a single-input single-output fuzzy system to compensate for model uncertainties and eliminate chattering using a linear boundary layer method. It also online tunes the sliding function parameter using adaptation laws. The stability of the closed-loop system is proved mathematically using Lyapunov stability theory. The algorithm is analyzed and evaluated on a 2 degree of freedom robotic manipulator to achieve improved tracking performance compared to conventional sliding mode control approaches.
Design of Model Free Adaptive Fuzzy Computed Torque Controller for a Nonlinea...Waqas Tariq
In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a two-degree-of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper.
Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modifi...Waqas Tariq
This document presents a novel particle swarm optimization sliding mode control algorithm using fuzzy logic to estimate uncertainties for nonlinear systems like robotic manipulators. The algorithm combines PSO, sliding mode control, and fuzzy logic to address issues like chattering and not requiring an accurate dynamic model. It estimates the equivalent dynamic term using fuzzy logic to compensate for uncertainties. PSO is used to tune parameters offline for improved performance. Stability of the closed-loop system is proved using the Lyapunov method. The algorithm aims to provide robust control of robotic manipulators without an accurate dynamic model.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
IRJET- Speed Control and Minimization of Torque Ripples in BLDC Motor usi...IRJET Journal
This document discusses speed control and minimization of torque ripples in BLDC motors using PI, SMC, and SMC-PWM control techniques. It begins by observing the responses of a BLDC motor using PI and SMC controllers. SMC is adopted to overcome the sensitivity of PI controllers to parameter variations and disturbances. A new control technique based on PWM control of BLDC motors is also presented. Simulation results are used to compare the performance of PI, SMC, and SMC-PWM control methods. SMC-PWM control is found to improve motor performance while reducing torque ripples and switching frequency fluctuations.
The aim of this article is propose a method to improve the direct torque control and design a Fuzzy Logic based Controller which can take necessary control action to provide the desired torque and flux of an asynchronous machine. It’s widely used in the industrial application areas due to several features such as fast torque response and less dependence on the rotor parameters. The major problem that is usually associated with DTC control is the high torque ripple as it is not directly controlled. The high torque ripple causes vibrations to the motor which may lead to component lose, bearing failure or resonance. The fuzzy logic controller is applied to reduce electromagnetic torque ripple. In this proposed technique, the two hysteresis controllers are replaced by fuzzy logic controllers and a methodology for implementation of a rule based fuzzy logic controller are presented. The simulation by Matlab/Simulink was built which includes induction motor d-q model, inverter model, fuzzy logic switching table and the stator flux and torque estimator. The validity of the proposed method is confirmed by the simulative results of the whole drive system and results are compared with conventional DTC method.
USEFul: A Framework to Mainstream Web Site Usability through Automated Evalua...Waqas Tariq
A paradox has been observed whereby web site usability is proven to be an essential element in a web site, yet at the same time there exist an abundance of web pages with poor usability. This discrepancy is the result of limitations that are currently preventing web developers in the commercial sector from producing usable web sites. In this paper we propose a framework whose objective is to alleviate this problem by automating certain aspects of the usability evaluation process. Mainstreaming comes as a result of automation, therefore enabling a non-expert in the field of usability to conduct the evaluation. This results in reducing the costs associated with such evaluation. Additionally, the framework allows the flexibility of adding, modifying or deleting guidelines without altering the code that references them since the guidelines and the code are two separate components. A comparison of the evaluation results carried out using the framework against published evaluations of web sites carried out by web site usability professionals reveals that the framework is able to automatically identify the majority of usability violations. Due to the consistency with which it evaluates, it identified additional guideline-related violations that were not identified by the human evaluators.
Predicting e-Customer behavior in B2C Relationships for CLV modelWaqas Tariq
E-Commerce sales have demonstrated an amazing growth in the last few years. And it is thus clear that the web is becoming an increasingly important channel and companies should strive for a successful web site. In this completion knowing e-customer and predicting his behavior is very important. In this paper we describe e-customer behavior in B2C relationships and then according to this behavior a new model for evaluating e-customer in B2C e-commerce relationships will be described. The most important thing in our e-CLV (Electronic Customer Lifetime Value) model is considering market\'s risks that are affecting customer cash flow in future. A lot of CLV models are based on simple NPV (simple net present value). However simple NPV can assess a good value for CLV, but simple NPV ignores two important aspects of B2C e-relationship which are market risks and big amount of customer data in e-commerce context. Therefore, simple NPV isn\'t enough for assessing e-CLV in high risk B2C markets. Instead of NPV, real option analyses could lead us to a better estimation for future cash flow of customers. With real option analyses, we predict all the future states with probability of each of them. And then calculate the more accurate of future customer cash flow. In this paper after a brief history of CLV, we explain customer behavior in B2C markets especially for e-retailers. Then with using real option analyses, we introduce our CLV model. Two extended examples explain our model and introduce the steps in finding CLV of customer in a B2C relationship.
A New Estimate Sliding Mode Fuzzy Controller for Robotic ManipulatorWaqas Tariq
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
TORQUE CONTROL OF AC MOTOR WITH FOPID CONTROLLER BASED ON FUZZY NEURAL ALGORITHMijics
Nowadays in the complicated systems, design of proper and implementable controller has a most importance. With respect to ability of fractional order systems in complicated systems identification as a first order fractional system with time delay, usage of fractional order PID has a proper result. From one side flexibility of fractional calculus than integer order has been topics of interest to the researchers. From another side, PMSM motors which are one the AC motor types, has been allocated largely accounted position in industry and used in variety applications. Therefore in this paper torque direct control of PMSM motors with FOPID based on model is proposed. Also fuzzy neural controllers are widely considered. Reason of this is success of fuzzy neural controller in control and identification of uncertain and complicated systems. The proposed method in this paper is combination of FOPID controller with fuzzy neural supervision system which with coefficients setting of this controller, control operation of PMSM will improve. Results of proposed method show the ability of proposed technique in reference signal tracking, elimination of disturbances effects and functional robustness in presence of noise and uncertainty. The results show the error averagely in three condition, nominal form, step disturbance and noise and uncertainly will decrease 11.66% in proposed method (FNFOPID) with Integral Square Error criterion and 7.69% with Integral Absolute Error criterion in comparison to FOPID.
This document presents research on sensorless speed control of an induction motor using predictive current and torque controllers. It begins with an abstract summarizing the research, which involves using a closed-loop observer system and predictive controllers to control an induction motor drive without requiring direct measurement of motor speed or flux. The document then provides background information on sensorless induction motor control and challenges associated with it. It describes the proposed control system, which uses a closed-loop observer to estimate motor flux and speed, along with a predictive current controller and predictive torque controller. Simulation results are presented confirming the effectiveness of the proposed sensorless control approach.
Identification and Real Time Control of a DC MotorIOSR Journals
This document presents a method for identifying and controlling a DC motor. It describes an experimental setup using sensors to measure the motor's speed. A parametric estimation method called PEM is used to identify the dynamic model of the motor based on input-output data. The identified model is validated via simulation. Then, an optimal linear quadratic regulator (LQR) controller is designed using the identified model to control the motor's speed and position. Simulations and experiments show the controller is able to track step and square wave position and velocity commands.
STATOR FLUX OPTIMIZATION ON DIRECT TORQUE CONTROL WITH FUZZY LOGIC cscpconf
This document summarizes a research paper that proposes a fuzzy logic based stator flux optimization technique for direct torque control (DTC) drives. The technique uses a fuzzy logic controller to self-regulate the stator flux reference based on the torque error and initial flux value without requiring motor parameters. Simulations show the proposed fuzzy logic approach reduces torque ripple compared to conventional DTC, especially at low loads. Key advantages of the fuzzy approach include improved performance and robustness to parameter changes without motor details.
This document presents a method for tuning the parameters of a PID controller for a brushless DC motor using particle swarm optimization. PSO is used to find the optimal proportional, integral and derivative gains to minimize error metrics for the motor's step response. The BLDC motor is modeled in Simulink. PSO searches through potential solutions in a multi-dimensional space to determine PID parameters that produce the best step response with minimal overshoot, rise time, settling time and steady state error. The results show the PSO-tuned PID controller achieves better dynamic performance than other methods.
PI controller design for indirect vector controlled induction motorISA Interchange
Decoupling of the stator currents is important for smoother torque response of indirect vector controlled induction motors. Typically, feedforward decoupling is used to take care of current coupling that requires exact knowledge of motor parameters, additional circuitry and signal processing. In this paper, a method is proposed to design the regulating proportional-integral gains that minimize coupling without any requirement of the additional decoupler. The variation of the coupling terms for change in load torque is considered as the performance measure. An iterative linear matrix inequality based H∞ control design approach is used to obtain the controller gains. A comparison between the feedforward and the proposed decoupling schemes is presented through simulation and experimental results. The results show that the proposed scheme is simple yet effective even without additional block or burden on signal processing.
Advance Current Monitoring Techniques to Detect and Diagnosis the Inter-Turn ...theijes
This paper presents the results of stator inter-turn fault detection and diagnosis in three phase induction motor using different types of current monitoring techniques such as: motor current signature analysis (MCSA), Current Concordia Vector, extend park vector approach (EPVA). Where the use of several signal processing techniques for extracting more information about the fault, will help us knowing the characteristics of each method in order to choose the best way to diagnose this type of machine fault. The tests show that the EPVA technique can diagnose the inter-turn fault with high accuracy compared with the other techniques. Because there is a similarity between the inter-turn frequency component and other machine faults frequency components (mixed air gap eccentricity, unbalance supply voltage) resulting a wrong discussion about the machine condition.
This document reviews sliding mode observers for sensorless control of permanent magnet synchronous motor drives. It begins with an introduction to permanent magnet synchronous motors and their advantages over other motor types. It then discusses speed estimation schemes for sensorless PMSM drives, including adaptive methods using observers like Luenberger observers and sliding mode observers. The document focuses on sliding mode observers, explaining conventional sliding mode observers, observers using a sigmoid function instead of a signum function to reduce chattering, and terminal sliding mode observers. Sliding mode observers are widely used for sensorless control due to their robustness to parameter variations and simplicity.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.
The speed estimation technique of induction machines has become a non-trivial task. For estimating the speed of an induction motor precisely and accurately an optimum state estimator is necessary. This paper deals with the performance analysis of induction motor drives using a recursive, optimum state estimator. This technique uses a full order state space Extended Kalman Filter (EKF) model where the rotor flux, rotor speed and stator currents are estimated. A major challenge with induction motor occurs at very low and at near zero speed. In such cases, information about the rotor parameters with respect to stator side become unobservable while using the synchronously rotating reference frame. To overcome this lost coupling effect, EKF observer linearizes the non-linear parameter in every sampling period and estimates the states and machine parameters simultaneously. The proposed algorithm is tuned to obtain least error in estimated speed. Any error found is further optimized using a non-linear fuzzy controller to obtain improved performance of the drive.
Investigation of Artificial Neural Network Based Direct Torque Control for PM...cscpconf
This paper investigates solution for the chronically and the biggest problem of direct torque control scheme: high torque ripple. Otherwise, another main problem faced in direct torque control method is difficulties due to complex algorithm to get high performance control for industrial motors. The purpose of this paper is to simplify the control structure by using artificial neural networks learning abilities and to investigate the affects of this structure on torque performance of motor. For this purpose, two different artificial neural networks have been suggested replacing the optimal switching vector selection and flux sector determination process of conventional direct torque control method. Matlab/Simulink based numerical simulations have been carried out to compare motor performances with conventional control structure and proposed artificial neural network based structure. It has been observed that the dynamic response of motor is faster and torque ripple and the controller complexity of the conventional control system has been reduced with the proposed technique.
Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding M...Waqas Tariq
The document describes a novel adaptive sliding mode fuzzy PD fuzzy sliding mode control algorithm for position control of robot manipulators. The algorithm uses a single-input single-output fuzzy system to compensate for model uncertainties and eliminate chattering using a linear boundary layer method. It also online tunes the sliding function parameter using adaptation laws. The stability of the closed-loop system is proved mathematically using Lyapunov stability theory. The algorithm is analyzed and evaluated on a 2 degree of freedom robotic manipulator to achieve improved tracking performance compared to conventional sliding mode control approaches.
Design of Model Free Adaptive Fuzzy Computed Torque Controller for a Nonlinea...Waqas Tariq
In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a two-degree-of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper.
Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modifi...Waqas Tariq
This document presents a novel particle swarm optimization sliding mode control algorithm using fuzzy logic to estimate uncertainties for nonlinear systems like robotic manipulators. The algorithm combines PSO, sliding mode control, and fuzzy logic to address issues like chattering and not requiring an accurate dynamic model. It estimates the equivalent dynamic term using fuzzy logic to compensate for uncertainties. PSO is used to tune parameters offline for improved performance. Stability of the closed-loop system is proved using the Lyapunov method. The algorithm aims to provide robust control of robotic manipulators without an accurate dynamic model.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
IRJET- Speed Control and Minimization of Torque Ripples in BLDC Motor usi...IRJET Journal
This document discusses speed control and minimization of torque ripples in BLDC motors using PI, SMC, and SMC-PWM control techniques. It begins by observing the responses of a BLDC motor using PI and SMC controllers. SMC is adopted to overcome the sensitivity of PI controllers to parameter variations and disturbances. A new control technique based on PWM control of BLDC motors is also presented. Simulation results are used to compare the performance of PI, SMC, and SMC-PWM control methods. SMC-PWM control is found to improve motor performance while reducing torque ripples and switching frequency fluctuations.
The aim of this article is propose a method to improve the direct torque control and design a Fuzzy Logic based Controller which can take necessary control action to provide the desired torque and flux of an asynchronous machine. It’s widely used in the industrial application areas due to several features such as fast torque response and less dependence on the rotor parameters. The major problem that is usually associated with DTC control is the high torque ripple as it is not directly controlled. The high torque ripple causes vibrations to the motor which may lead to component lose, bearing failure or resonance. The fuzzy logic controller is applied to reduce electromagnetic torque ripple. In this proposed technique, the two hysteresis controllers are replaced by fuzzy logic controllers and a methodology for implementation of a rule based fuzzy logic controller are presented. The simulation by Matlab/Simulink was built which includes induction motor d-q model, inverter model, fuzzy logic switching table and the stator flux and torque estimator. The validity of the proposed method is confirmed by the simulative results of the whole drive system and results are compared with conventional DTC method.
USEFul: A Framework to Mainstream Web Site Usability through Automated Evalua...Waqas Tariq
A paradox has been observed whereby web site usability is proven to be an essential element in a web site, yet at the same time there exist an abundance of web pages with poor usability. This discrepancy is the result of limitations that are currently preventing web developers in the commercial sector from producing usable web sites. In this paper we propose a framework whose objective is to alleviate this problem by automating certain aspects of the usability evaluation process. Mainstreaming comes as a result of automation, therefore enabling a non-expert in the field of usability to conduct the evaluation. This results in reducing the costs associated with such evaluation. Additionally, the framework allows the flexibility of adding, modifying or deleting guidelines without altering the code that references them since the guidelines and the code are two separate components. A comparison of the evaluation results carried out using the framework against published evaluations of web sites carried out by web site usability professionals reveals that the framework is able to automatically identify the majority of usability violations. Due to the consistency with which it evaluates, it identified additional guideline-related violations that were not identified by the human evaluators.
Predicting e-Customer behavior in B2C Relationships for CLV modelWaqas Tariq
E-Commerce sales have demonstrated an amazing growth in the last few years. And it is thus clear that the web is becoming an increasingly important channel and companies should strive for a successful web site. In this completion knowing e-customer and predicting his behavior is very important. In this paper we describe e-customer behavior in B2C relationships and then according to this behavior a new model for evaluating e-customer in B2C e-commerce relationships will be described. The most important thing in our e-CLV (Electronic Customer Lifetime Value) model is considering market\'s risks that are affecting customer cash flow in future. A lot of CLV models are based on simple NPV (simple net present value). However simple NPV can assess a good value for CLV, but simple NPV ignores two important aspects of B2C e-relationship which are market risks and big amount of customer data in e-commerce context. Therefore, simple NPV isn\'t enough for assessing e-CLV in high risk B2C markets. Instead of NPV, real option analyses could lead us to a better estimation for future cash flow of customers. With real option analyses, we predict all the future states with probability of each of them. And then calculate the more accurate of future customer cash flow. In this paper after a brief history of CLV, we explain customer behavior in B2C markets especially for e-retailers. Then with using real option analyses, we introduce our CLV model. Two extended examples explain our model and introduce the steps in finding CLV of customer in a B2C relationship.
An overview on Advanced Research Works on Brain-Computer InterfaceWaqas Tariq
A brain–computer interface (BCI) is a proficient result in the research field of human- computer synergy, where direct articulation between brain and an external device occurs resulting in augmenting, assisting and repairing human cognitive. Advanced works like generating brain-computer interface switch technologies for intermittent (or asynchronous) control in natural environments or developing brain-computer interface by Fuzzy logic Systems or by implementing wavelet theory to drive its efficacies are still going on and some useful results has also been found out. The requirements to develop this brain machine interface is also growing day by day i.e. like neuropsychological rehabilitation, emotion control, etc. An overview on the control theory and some advanced works on the field of brain machine interface are shown in this paper.
Reusability Metrics for Object-Oriented System: An Alternative ApproachWaqas Tariq
Object-oriented metrics plays an import role in ensuring the desired quality and have widely been applied to practical software projects. The benefits of object-oriented software development increasing leading to development of new measurement techniques. Assessing the reusability is more and more of a necessity. Reusability is the key element to reduce the cost and improve the quality of the software. Generic programming helps us to achieve the concept of reusability through C++ Templates which helps in developing reusable software modules and also identify effectiveness of this reuse strategy. The advantage of defining metrics for templates is the possibility to measure the reusability of software component and to identify the most effective reuse strategy. The need for such metrics is particularly useful when an organization is adopting a new technology, for which established practices have yet to be developed. Many researchers have done research on reusability metrics [2, 9, 3, 4]. In this paper we have proposed four new independent metrics Number of Template Children (NTC), Depth of Template Tree (DTT) Method Template Inheritance Factor (MTIF) and Attribute Template Inheritance Factor (ATIF), to measure the reusability for object-oriented systems.
User Category Based Estimation of Location Popularity using the Road GPS Traj...Waqas Tariq
The mining of the user GPS trajectories and identifying the interesting places have been well studied based on the visitor’s frequency. However, every user is given the same importance in the majority of the trajectory mining methods. In reality, the popularity of the place also depends on the category of the visitor i.e. international vs local visitors etc. We are proposing user category based location popularity estimation using the trajectories databases. It includes mainly three steps. First , pre-processing – the error correction and the graph connection establishment in the road network in order to be able to carry the graph based computations. Second , find the stay regions where the travelers spent some time off-the-road. The visitors can be easily categorized for each POI based on the travel distance from the home location. Finally , normalization and popularity estimation – measure the frequency and stay time of the visitors of each category in the places in question. The weighted sum of the frequency and stay time for each category of the visitors is calculated. The final popularity of the places is computed with values of the pre-configured range. We have implemented and evaluated the proposed method using a large real road GPS trajectory of 182 users that was collected in a period of over three years by Microsoft Asia Research group.
Particle Swarm Optimization in the fine-tuning of Fuzzy Software Cost Estimat...Waqas Tariq
Software cost estimation deals with the financial and strategic planning of software projects. Controlling the expensive investment of software development effectively is of paramount importance. The limitation of algorithmic effort prediction models is their inability to cope with uncertainties and imprecision surrounding software projects at the early development stage. More recently, attention has turned to a variety of machine learning methods, and soft computing in particular to predict software development effort. Fuzzy logic is one such technique which can cope with uncertainties. In the present paper, Particle Swarm Optimization Algorithm (PSOA) is presented to fine tune the fuzzy estimate for the development of software projects . The efficacy of the developed models is tested on 10 NASA software projects, 18 NASA projects and COCOMO 81 database on the basis of various criterion for assessment of software cost estimation models. Comparison of all the models is done and it is found that the developed models provide better estimation
Next-Generation Search Engines for Information RetrievalWaqas Tariq
In the recent years, there have been significant advancements in the areas of scientific data management and retrieval techniques, particularly in terms of standards and protocols for archiving data and metadata. Scientific data is generally rich, not easy to understand, and spread across different places. In order to integrate these pieces together, a data archive and associated metadata should be generated. This data should be stored in a format that can be locatable, retrievable and understandable, more importantly it should be in a form that will continue to be accessible as technology changes, such as XML. New search technologies are being implemented around these protocols, which makes searching easy, fast and yet robust. One such system, Mercury, a metadata harvesting, data discovery, and access system, built for researchers to search to, share and obtain spatiotemporal data used across a range of climate and ecological sciences.
Reliability Improvement in Logic Circuit Stochastic ComputationWaqas Tariq
Defects and faults arise from physical imperfections and noise susceptibility of the analog circuit components used to create digital circuits resulting in computational errors. A probabilistic computational model is needed to quantify and analyze the effect of noisy signals on computational accuracy in digital circuits. This model computes the reliability of digital circuits meaning that the inputs and outputs and their implemented logic function need to be calculated probabilistically. The purpose of this paper is to present a new architecture for designing noise-tolerant digital circuits. The approach we propose is to use a class of single-input, single-output circuits called Reliability Enhancement Network Chain (RENC). A RENC is a concatenation of n simple logic circuits called Reliability Enhancement Network (REN). Each REN can increase the reliability of a digital circuit to a higher level. Reliability of the circuit can approach any desirable level when a RENC composed of a sufficient number of RENs is employed. Moreover, the proposed approach is applicable to the design of any logic circuit implemented with any logic technology.
Faster Case Retrieval Using Hash Indexing TechniqueWaqas Tariq
This document discusses using hashing indexing to improve case retrieval in case-based reasoning systems. It proposes integrating hashing indexing into the case retrieval process to allow for faster retrieval of cases from large case bases. The document describes how hashing indexing works and how it could be applied to case retrieval by mapping case features to hash table indexes. An experiment is described that applies hashing indexing to a dataset of daily dam operation data to compare retrieval performance against sequential indexing. The results indicate that hashing indexing retrieves cases more accurately and faster than the sequential approach.
A multi-scale Urban Analysis Using Remote Sensing and GISWaqas Tariq
Urban planning was very much a design and engineering exercise with the state as a single stake holder. Mega cities with millions of population, has undergone a series of physical as well as socio-economic changes over the last 60 years. In India, Hyderabad experienced a high rate of urbanization facing structural, environmental, social and economic problems. To provide a holistic perspective on the urban characteristics, an interdisciplinary research approach is used. GISGeographic Information System and Remote Sensing provide the advance techniques and methods for studying urban land development and assist urban planning.
Colorization of Greyscale Images Using Kekre’s Biorthogonal Color Spaces and ...Waqas Tariq
There is no exact solution for colorization of greyscale images. The main focus of the techniques [24] is to minimise the human efforts needed in manually coloring the greyscale images. The human interaction is needed only to find a reference color image, then the job of transferring color traits from reference color image to greyscale image is done by techniques discussed in[1]. Here the colors from some source color image are picked up and squirted into the colored greyscale image. The color palette used in colorization technique discussed here is generated using the modified VQ codebook obtained by applying Kekre’s Fast Codebook generation algorithm. The technique is tested using various VQ codebook sizes like 64, 128, 256. In this papaer the techniques of color traits transfer to greyscale images are revisited with various color spaces like newly introduced Kekre’s Biorthogonal color spaces and RGB color space. The pixel window size used is of size 2x2. Color traits transfer to greyscale algorithms are tested over five different images for deciding the color space giving best quality of coloring. The experimental results show that the Kekre’s Biorthogonal Green color space gives better coloring.
Neural Network Based Classification and Diagnosis of Brain HemorrhagesWaqas Tariq
The classification and diagnosis of brain hemorrhages has work out into a great importance diligence in early detection of hemorrhages which reduce the death rates. The purpose of this research was to detect brain hemorrhages and classify them and provide the patient with correct diagnosis. A possible solution to this social problem is to utilize predictive techniques such as sparse component analysis, artificial neural networks to develop a method for detection and classification. In this study we considered a perceptron based feed forward neural network for early detection of hemorrhages. This paper attempts to spot on consider and talk about Computer Aided Diagnosis (CAD) that chiefly necessitated in clinical diagnosis without human act. This paper introduces a Region Severance Algorithm (RSA) for detection and location of hemorrhages and an algorithm for finding threshold band. In this paper different data sets (CT images) are taken from various machines and the results obtained by applying our algorithm and those results were compared with domain expert. Further researches were challenged to originate different models in study of hemorrhages caused by hyper tension or by existing tumor in the brain.
This paper expands a sliding mode fuzzy controller which sliding surface gain is on-line tuned by minimum fuzzy inference algorithm. The main goal is to guarantee acceptable trajectories tracking between the second order nonlinear system (robot manipulator) actual and the desired trajectory. The fuzzy controller in proposed sliding mode fuzzy controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The outputs represent torque, respectively. The fuzzy inference system methodology is on-line tune the sliding surface gain based on error-based fuzzy tuning methodology. Pure sliding mode fuzzy controller has difficulty in handling unstructured model uncertainties. To solve this problem applied fuzzy-based tuning method to sliding mode fuzzy controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by fuzzy-based tuning method, it is nonlinear and continuous. Fuzzy-based tuning sliding mode fuzzy controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in fuzzy-based tuning sliding mode fuzzy controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
The Adoption Of Tailor-made IT-based Accounting Systems Within Indonesian SME...Waqas Tariq
This document discusses the adoption of IT-based accounting systems by small and medium enterprises (SMEs) in Indonesia. It examines the adoption process using Actor Network Theory (ANT), which views adoption as an interactive process between organizations and their environment. ANT models adoption as involving four stages: problematization, interrestment, enrollment, and mobilization. The document also discusses factors influencing adoption success and failure. It argues that ANT provides a better framework for understanding adoption compared to other models because it considers both adoption factors and processes.
Different Software Testing Levels for Detecting ErrorsWaqas Tariq
Software testing is the process to uncover requirement, design and coding errors in the program. But software testing is not a “miracle” that can guaranteed the production of high quality software system, so to enhance the quality of a software and to do a testing in more unified way, the testing process could be abstracted to different levels and each level of testing aims to test different aspects of the system. In my paper, I have described different level of testing and these different levels attempted to detect different types of defects. The goal here is to test the system against requirement, and to test requirement themselves.
Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Eng...Waqas Tariq
One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown and/or unstructured) situation consequently caused to provide complicated systems, as a result strong mathematical theory are used in new control methodologies to design nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). Classical and non-classical methods are two main categories of robot manipulators control, where the conventional (classical) control theory uses the classical method and the non-classical control theory (e.g., fuzzy logic, neural network, and neuro fuzzy) uses the artificial intelligence methods. However both of conventional and artificial intelligence theories have applied effectively in many areas, but these methods also have some limitations. This paper is focused on review of fuzzy logic controller and applied to PUMA robot manipulator.
Reactive Navigation of Autonomous Mobile Robot Using Neuro-Fuzzy SystemWaqas Tariq
Neuro-fuzzy systems have been used for robot navigation applications because of their ability to exert human like expertise and to utilize acquired knowledge to develop autonomous navigation strategies. In this paper, neuro-fuzzy based system is proposed for reactive navigation of a mobile robot using behavior based control. The proposed algorithm uses discrete sampling based optimal training of neural network. With a view to ascertain the efficacy of proposed system; the proposed neuro-fuzzy system’s performance is compared to that of neural and fuzzy based approaches. Simulation results along with detailed behavior analysis show effectiveness of our algorithm in all kind of obstacle environments.
PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MAT...Waqas Tariq
This document describes the implementation of a computed torque controller for controlling the position of a PUMA 560 robot manipulator using MATLAB/Simulink. It first presents the dynamic equations of motion for the PUMA 560 robot. It then provides details on computed torque control, including its mathematical formulation and how it was modeled in Simulink. Simulation results are presented to validate the controller's performance in tracking desired joint positions for the robot.
Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULIN...CSCJournals
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design, implementation and analysis of a chattering free sliding mode controller for highly nonlinear dynamic PUMA robot manipulator and compare to computed torque controller, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure sliding mode controller and computed torque controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the linear saturation function boundary layer method instead of switching function method in pure sliding mode controller. These simulation models are developed as a part of a software laboratory to support and enhance graduate/undergraduate robotics courses, nonlinear control courses and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran.
IRJET- Self-Tuning PID Controller with Genetic Algorithm Based Sliding Mo...IRJET Journal
This document presents a self-tuning PID controller with a genetic algorithm for sensorless induction motor drives. A model reference adaptive system estimator is proposed that uses a sliding mode technique for robustness. The estimator reduces chattering while maintaining sliding mode properties. Additionally, an auxiliary variable is used to improve stability in regenerating mode operation. Simulation results demonstrate the performance of the proposed estimator for speed estimation during rapid speed reversal and in regenerating mode. Parameter estimation is also achieved using adaptive mechanisms to estimate rotor resistance and mutual inductance.
PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB...Waqas Tariq
This paper describes the MATLAB/SIMULINK realization, modeling and implementation of the PUMA 560 robot manipulator. This paper focuses on robot manipulator analysis and implementation and analyzed. This simulation models are developed as a part of a software laboratory to support and enhance graduate robotics courses, and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran.
The developed control methodology can be used to build more efficient intelligent and precision mechatronic systems. Three degrees of freedom robot arm is controlled by adaptive sliding mode fuzzy algorithm fuzzy sliding mode controller (SMFAFSMC). This plant has 3 revolute joints allowing the corresponding links to move horizontally. Control of robotic manipulator is very important in field of robotic, because robotic manipulators are Multi-Input Multi-Output (MIMO), nonlinear and most of dynamic parameters are uncertainty. Design strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance in this controller is the main challenge. Sliding mode methodology is a nonlinear robust controller which can be used in uncertainty nonlinear systems, but pure sliding mode controller has chattering phenomenon and nonlinear equivalent part in uncertain system therefore the first step is focused on eliminate the chattering and in second step controller is improved with regard to uncertainties. Sliding function is one of the most important challenging in artificial sliding mode algorithm which this problem in order to solved by on-line tuning method. This paper focuses on adjusting the sliding surface slope in fuzzy sliding mode controller by sliding mode fuzzy algorithm.
Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Al...CSCJournals
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. The outputs represent angular position, velocity and acceleration commands, respectively. The backstepping methodology is on-line tune the sliding function based on self tuning methodology. The performance of the backstepping on-line tune fuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robot manipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulation results signify good performance of position tracking in presence of uncertainty and external disturbance.
Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator S...Waqas Tariq
In this research, a Multi Input Multi Output (MIMO) position Field Programmable Gate Array (FPGA)-based fuzzy estimator sliding mode control (SMC) design with the estimation laws derived in Lyapunov sense and application to robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy inference methodology and Lyapunov based method, the controllers output has improved. The main target in this research is analyses and design of the position MIMO artificial Lyapunov FPGA-based controller for robot manipulator in order to solve uncertainty, external disturbance, nonlinear equivalent part, chattering phenomenon, time to market and controller size using FPGA. Robot manipulators are nonlinear, time variant and a number of parameters are uncertain therefore design robust and stable controller based on Lyapunov based is discussed in this research. Studies about classical sliding mode controller (SMC) show that: although this controller has acceptable performance with known dynamic parameters such as stability and robustness but there are two important disadvantages as below: chattering phenomenon and mathematical nonlinear dynamic equivalent controller part. The first challenge; nonlinear dynamic part; is applied by inference estimator method in sliding mode controller in order to solve the nonlinear problems in classical sliding mode controller. And the second challenge; chattering phenomenon; is removed by linear method. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov. In the last part it can find the implementation of MIMO fuzzy estimator sliding mode controller on FPGA; FPGA-based fuzzy estimator sliding mode controller has many advantages such as high speed, low cost, short time to market and small device size. One of the most important drawbacks is limited capacity of available cells which this research focuses to solve this challenge. FPGA can be used to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is designed using Very High Description Language (VHDL) for implementation on FPGA device (XA3S1600E-Spartan-3E), with minimum chattering.
Effect of Parametric Variations and Voltage Unbalance on Adaptive Speed Estim...IAES-IJPEDS
This document analyzes the effect of parameter variations and voltage unbalance on adaptive speed estimation schemes for sensorless induction motor drives. It simulates rotor flux-based model reference adaptive control (MRAC) and an adaptive speed observer using MATLAB/Simulink. The results show that both schemes can estimate speed well under step load changes. However, when parameters are incorrect or there is voltage unbalance, the adaptive speed observer exhibits superior tracking performance compared to the MRAC scheme. The adaptive speed observer more accurately estimates speed for variations in stator resistance, rotor time constant, and under voltage unbalance conditions.
Flatness Based Nonlinear Sensorless Control of Induction Motor SystemsIAES-IJPEDS
This paper deals with the flatness-based approach for sensorless control of
the induction motor systems. Two main features of the proposed flatness
based control are worth to be mentioned. Firstly, the simplicity of
implementation of the flatness approach as a nonlinear feedback linearization
control technique. Secondly, when the chosen flat outputs involve non
available state variable measurements a nonlinear observer is used to
estimate them. The main advantage of the used observer is its ability to
exploite the properties of the system nonlinearties. The simulation results are
presented to illustrate the effectiness of the proposed approach for sensorless
control of the considered induction motor.
Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain...CSCJournals
This document proposes an artificial chattering free adaptive fuzzy sliding mode control algorithm for uncertain systems, specifically applied to robot manipulators. The algorithm combines sliding mode control, fuzzy logic control, and adaptive methods to address some limitations of each approach. Specifically, fuzzy logic is used instead of saturation functions and dead zones to eliminate chattering. Fuzzy rules are also used to estimate the nonlinear dynamic equivalent control term, reducing complexity. Adaptive methods are used to continuously adjust the sliding function in real-time for improved performance with uncertain or time-varying parameters. The algorithm is tested in simulations of a PUMA robot manipulator.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Act...IJECEIAES
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Adaptive Control strategies helps to get desirable output for system with partial unknown dynamics or systems having unknown and unmodeled load variation. DC servo motors are useful to track rapid speed trajectory for various applications, particularly with need of high starting torque and low inertia. Model Reference Adaptive Control (MRAC) parameter data of results with Lyapunov stability MRAC has been used to generate adaptation parameter for DC motor speed controller.
On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Slidi...Waqas Tariq
This document presents a study on tuning premise and consequence parts of fuzzy inference system rules online to design an adaptive fuzzy sliding mode controller for a robot manipulator. Classical sliding mode controllers are robust but suffer from chattering. Previous work has combined fuzzy systems and sliding mode control to address chattering and model uncertainties, but require large rule bases. The proposed method uses an adaptive law to tune fuzzy rule parameters online, ensuring moderate computational load while approximating the uncertain nonlinear system dynamics. Simulation results will demonstrate the effectiveness of the approach.
Speed and Torque Control of Mechanically Coupled Permanent Magnet Direct Curr...IDES Editor
A new controller is designed for speed and torque
control of a Permanent Magnet DC motor based on
measurements of speed and current. This research work
focuses on investigating the effects of control of the speed and
torque of two brushless dc motors that are mechanically
coupled. Two controller design methods: the Root Locus
method and Bode Plot method as well as two controllers:
Proportional-Integral-Derivative (PID) and Proportional-
Integral (PI) are used to obtain the control objectives of speed
control and torque control. The simulation is performed using
MATLAB/SIMULINK software. The effects of varying the
controller gains on the system performance is studied and
quantified. The simulation results show that the speed control
objectives of the motor are satisfied even in the case of torque
disturbance from the other motor.
Impact analysis of actuator torque degradation on the IRB 120 robot performan...IJECEIAES
Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.
Improvements the direct torque control performance for an induction machine u...IJECEIAES
This article examines a solution to the major problems of induction machine control in order to achieve superior dynamic performance. Conventional direct torque control and indirect control with flux orientation have some drawbacks, such as current harmonics, torque ripples, flux ripples, and rise time. In this article, we propose a comparative analysis between previous approaches and the one using fuzzy logic. Results from the simulation show that the direct torque control method using fuzzy logic is more effective in providing a precise and fast response without overshooting, and it eliminates torque and flux fluctuations at low switching frequencies. The demonstrated improvements in dynamic performance contribute to increased operational efficiency and reliability in industrial applications.
This paper deals with a comparative study of circle criterion based nonlinear observer and H∞ observer for induction motor (IM) drive. The advantage of the circle criterion approach for nonlinear observer design is that it directly handles the nonlinearities of the system with less restriction conditions in contrast of the other methods which attempt to eliminate them. However the H∞ observer guaranteed the stability taking into account disturbance and noise attenuation. Linear matrix inequality (LMI) optimization approach is used to compute the gains matrices for the two observers. The simulation results show the superiority of H∞ observer in the sense that it can achieve convergence to the true state, despite the nonlinearity of model and the presence of disturbance.
Fractional-order sliding mode controller for the two-link robot arm IJECEIAES
This study presents a control system of the two-link robot arm based on the sliding mode controller with the fractional-order. Firstly, the equations of the two-link robot arm are analyzed, then the author proposes the controller for each joint based on these equations. The controller is a sliding mode controller with its order is not an integer value. The task of the control system is controlling the torques acted on the joints so that the response angle of each link equal to the desired angle. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built for investigating the efficiency of the system. The result shows that the system quality is very good: there is not the chattering phenomenon of torques, the response angle of two links always follow the desired angle with the short transaction time and the static error of zero.
Estimating the parameters of a geared DC motor is crucial in terms of its non-linear features. In this paper, parameters of a geared DC motor are estimated genetically. Mathematical model of the DC motor is determined by Kirchhoff’s law and dynamic model of its shafts and gearbox. Parameters of the geared DC motor are initially estimated by MATLAB/SIMULINK. The estimated parameters are defined as initial values for Genetic Algorithm (GA) to minimize the error of the simulated and actual angular trajectory captured by an encoder. The optimal estimated model of the geared DC motor is validated by different voltages as the input of the actual DC motor and its mathematical model. The results and numerical analysis illustrate it can be ascertained that GA is appropriate to estimate the parameters of platforms with non linear characteristics.
Similar to Design Error-based Linear Model-free Evaluation Performance Computed Torque Controller (20)
The Use of Java Swing’s Components to Develop a WidgetWaqas Tariq
Widget is a kind of application provides a single service such as a map, news feed, simple clock, battery-life indicators, etc. This kind of interactive software object has been developed to facilitate user interface (UI) design. A user interface (UI) function may be implemented using different widgets with the same function. In this article, we present the widget as a platform that is generally used in various applications, such as in desktop, web browser, and mobile phone. We also describe a visual menu of Java Swing’s components that will be used to establish widget. It will assume that we have successfully compiled and run a program that uses Swing components.
3D Human Hand Posture Reconstruction Using a Single 2D ImageWaqas Tariq
Passive sensing of the 3D geometric posture of the human hand has been studied extensively over the past decade. However, these research efforts have been hampered by the computational complexity caused by inverse kinematics and 3D reconstruction. In this paper, our objective focuses on 3D hand posture estimation based on a single 2D image with aim of robotic applications. We introduce the human hand model with 27 degrees of freedom (DOFs) and analyze some of its constraints to reduce the DOFs without any significant degradation of performance. A novel algorithm to estimate the 3D hand posture from eight 2D projected feature points is proposed. Experimental results using real images confirm that our algorithm gives good estimates of the 3D hand pose. Keywords: 3D hand posture estimation; Model-based approach; Gesture recognition; human- computer interface; machine vision.
Camera as Mouse and Keyboard for Handicap Person with Troubleshooting Ability...Waqas Tariq
Camera mouse has been widely used for handicap person to interact with computer. The utmost important of the use of camera mouse is must be able to replace all roles of typical mouse and keyboard. It must be able to provide all mouse click events and keyboard functions (include all shortcut keys) when it is used by handicap person. Also, the use of camera mouse must allow users troubleshooting by themselves. Moreover, it must be able to eliminate neck fatigue effect when it is used during long period. In this paper, we propose camera mouse system with timer as left click event and blinking as right click event. Also, we modify original screen keyboard layout by add two additional buttons (button “drag/ drop” is used to do drag and drop of mouse events and another button is used to call task manager (for troubleshooting)) and change behavior of CTRL, ALT, SHIFT, and CAPS LOCK keys in order to provide shortcut keys of keyboard. Also, we develop recovery method which allows users go from camera and then come back again in order to eliminate neck fatigue effect. The experiments which involve several users have been done in our laboratory. The results show that the use of our camera mouse able to allow users do typing, left and right click events, drag and drop events, and troubleshooting without hand. By implement this system, handicap person can use computer more comfortable and reduce the dryness of eyes.
A Proposed Web Accessibility Framework for the Arab DisabledWaqas Tariq
The Web is providing unprecedented access to information and interaction for people with disabilities. This paper presents a Web accessibility framework which offers the ease of the Web accessing for the disabled Arab users and facilitates their lifelong learning as well. The proposed framework system provides the disabled Arab user with an easy means of access using their mother language so they don’t have to overcome the barrier of learning the target-spoken language. This framework is based on analyzing the web page meta-language, extracting its content and reformulating it in a suitable format for the disabled users. The basic objective of this framework is supporting the equal rights of the Arab disabled people for their access to the education and training with non disabled people. Key Words : Arabic Moon code, Arabic Sign Language, Deaf, Deaf-blind, E-learning Interactivity, Moon code, Web accessibility , Web framework , Web System, WWW.
Real Time Blinking Detection Based on Gabor FilterWaqas Tariq
The document proposes a new method for real-time blinking detection based on Gabor filters. It begins by reviewing existing methods and their limitations in dealing with noise, variations in eye shape, and blinking speed. The proposed method uses a Gabor filter to extract the top and bottom arcs of the eye from an image. It then measures the distance between these arcs and compares it to a threshold: a distance below the threshold indicates a closed eye, while a distance above indicates an open eye. The document claims this Gabor filter-based approach is robust to noise, variations in eye shape and blinking speed. It presents experimental results showing the method can accurately detect blinking across different users.
Computer Input with Human Eyes-Only Using Two Purkinje Images Which Works in ...Waqas Tariq
A method for computer input with human eyes-only using two Purkinje images which works in a real time basis without calibration is proposed. Experimental results shows that cornea curvature can be estimated by using two light sources derived Purkinje images so that no calibration for reducing person-to-person difference of cornea curvature. It is found that the proposed system allows usersf movements of 30 degrees in roll direction and 15 degrees in pitch direction utilizing detected face attitude which is derived from the face plane consisting three feature points on the face, two eyes and nose or mouth. Also it is found that the proposed system does work in a real time basis.
Toward a More Robust Usability concept with Perceived Enjoyment in the contex...Waqas Tariq
Mobile multimedia service is relatively new but has quickly dominated people¡¯s lives, especially among young people. To explain this popularity, this study applies and modifies the Technology Acceptance Model (TAM) to propose a research model and conduct an empirical study. The goal of study is to examine the role of Perceived Enjoyment (PE) and what determinants can contribute to PE in the context of using mobile multimedia service. The result indicates that PE is influencing on Perceived Usefulness (PU) and Perceived Ease of Use (PEOU) and directly Behavior Intention (BI). Aesthetics and flow are key determinants to explain Perceived Enjoyment (PE) in mobile multimedia usage.
Collaborative Learning of Organisational KnolwedgeWaqas Tariq
This paper presents recent research into methods used in Australian Indigenous Knowledge sharing and looks at how these can support the creation of suitable collaborative envi- ronments for timely organisational learning. The protocols and practices as used today and in the past by Indigenous communities are presented and discussed in relation to their relevance to a personalised system of knowledge sharing in modern organisational cultures. This research focuses on user models, knowledge acquisition and integration of data for constructivist learning in a networked repository of or- ganisational knowledge. The data collected in the repository is searched to provide collections of up-to-date and relevant material for training in a work environment. The aim is to improve knowledge collection and sharing in a team envi- ronment. This knowledge can then be collated into a story or workflow that represents the present knowledge in the organisation.
Our research aims to propose a global approach for specification, design and verification of context awareness Human Computer Interface (HCI). This is a Model Based Design approach (MBD). This methodology describes the ubiquitous environment by ontologies. OWL is the standard used for this purpose. The specification and modeling of Human-Computer Interaction are based on Petri nets (PN). This raises the question of representation of Petri nets with XML. We use for this purpose, the standard of modeling PNML. In this paper, we propose an extension of this standard for specification, generation and verification of HCI. This extension is a methodological approach for the construction of PNML with Petri nets. The design principle uses the concept of composition of elementary structures of Petri nets as PNML Modular. The objective is to obtain a valid interface through verification of properties of elementary Petri nets represented with PNML.
Development of Sign Signal Translation System Based on Altera’s FPGA DE2 BoardWaqas Tariq
The main aim of this paper is to build a system that is capable of detecting and recognizing the hand gesture in an image captured by using a camera. The system is built based on Altera’s FPGA DE2 board, which contains a Nios II soft core processor. Image processing techniques and a simple but effective algorithm are implemented to achieve this purpose. Image processing techniques are used to smooth the image in order to ease the subsequent processes in translating the hand sign signal. The algorithm is built for translating the numerical hand sign signal and the result are displayed on the seven segment display. Altera’s Quartus II, SOPC Builder and Nios II EDS software are used to construct the system. By using SOPC Builder, the related components on the DE2 board can be interconnected easily and orderly compared to traditional method that requires lengthy source code and time consuming. Quartus II is used to compile and download the design to the DE2 board. Then, under Nios II EDS, C programming language is used to code the hand sign translation algorithm. Being able to recognize the hand sign signal from images can helps human in controlling a robot and other applications which require only a simple set of instructions provided a CMOS sensor is included in the system.
Exploring the Relationship Between Mobile Phone and Senior Citizens: A Malays...Waqas Tariq
There is growing ageing phenomena with the rise of ageing population throughout the world. According to the World Health Organization (2002), the growing ageing population indicates 694 million, or 223% is expected for people aged 60 and over, since 1970 and 2025.The growth is especially significant in some advanced countries such as North America, Japan, Italy, Germany, United Kingdom and so forth. This growing older adult population has significantly impact the social-culture, lifestyle, healthcare system, economy, infrastructure and government policy of a nation. However, there are limited research studies on the perception and usage of a mobile phone and its service for senior citizens in a developing nation like Malaysia. This paper explores the relationship between mobile phones and senior citizens in Malaysia from the perspective of a developing country. We conducted an exploratory study using contextual interviews with 5 senior citizens of how they perceive their mobile phones. This paper reveals 4 interesting themes from this preliminary study, in addition to the findings of the desirable mobile requirements for local senior citizens with respect of health, safety and communication purposes. The findings of this study bring interesting insight to local telecommunication industries as a whole, and will also serve as groundwork for more in-depth study in the future.
Principles of Good Screen Design in WebsitesWaqas Tariq
Visual techniques for proper arrangement of the elements on the user screen have helped the designers to make the screen look good and attractive. Several visual techniques emphasize the arrangement and ordering of the screen elements based on particular criteria for best appearance of the screen. This paper investigates few significant visual techniques in various web user interfaces and showcases the results for better understanding and their presence.
This document discusses the progress of virtual teams in Albania. It provides context on virtual teams and how they differ from traditional teams in their reliance on technology for communication across distances. The document then examines the use of virtual teams in Albania, noting the growing infrastructure and technology usage that enables virtual collaboration. It highlights some virtual team examples in Albanian government and academic projects.
Cognitive Approach Towards the Maintenance of Web-Sites Through Quality Evalu...Waqas Tariq
It is a well established fact that the Web-Applications require frequent maintenance because of cutting– edge business competitions. The authors have worked on quality evaluation of web-site of Indian ecommerce domain. As a result of that work they have made a quality-wise ranking of these sites. According to their work and also the survey done by various other groups Futurebazaar web-site is considered to be one of the best Indian e-shopping sites. In this research paper the authors are assessing the maintenance of the same site by incorporating the problems incurred during this evaluation. This exercise gives a real world maintainability problem of web-sites. This work will give a clear picture of all the quality metrics which are directly or indirectly related with the maintainability of the web-site.
Robot Arm Utilized Having Meal Support System Based on Computer Input by Huma...Waqas Tariq
A robot arm utilized having meal support system based on computer input by human eyes only is proposed. The proposed system is developed for handicap/disabled persons as well as elderly persons and tested with able persons with several shapes and size of eyes under a variety of illumination conditions. The test results with normal persons show the proposed system does work well for selection of the desired foods and for retrieve the foods as appropriate as usersf requirements. It is found that the proposed system is 21% much faster than the manually controlled robotics.
Dynamic Construction of Telugu Speech Corpus for Voice Enabled Text EditorWaqas Tariq
In recent decades speech interactive systems have gained increasing importance. Performance of an ASR system mainly depends on the availability of large corpus of speech. The conventional method of building a large vocabulary speech recognizer for any language uses a top-down approach to speech. This approach requires large speech corpus with sentence or phoneme level transcription of the speech utterances. The transcriptions must also include different speech order so that the recognizer can build models for all the sounds present. But, for Telugu language, because of its complex nature, a very large, well annotated speech database is very difficult to build. It is very difficult, if not impossible, to cover all the words of any Indian language, where each word may have thousands and millions of word forms. A significant part of grammar that is handled by syntax in English (and other similar languages) is handled within morphology in Telugu. Phrases including several words (that is, tokens) in English would be mapped on to a single word in Telugu.Telugu language is phonetic in nature in addition to rich in morphology. That is why the speech technology developed for English cannot be applied to Telugu language. This paper highlights the work carried out in an attempt to build a voice enabled text editor with capability of automatic term suggestion. Main claim of the paper is the recognition enhancement process developed by us for suitability of highly inflecting, rich morphological languages. This method results in increased speech recognition accuracy with very much reduction in corpus size. It also adapts Telugu words to the database dynamically, resulting in growth of the corpus.
An Improved Approach for Word Ambiguity RemovalWaqas Tariq
Word ambiguity removal is a task of removing ambiguity from a word, i.e. correct sense of word is identified from ambiguous sentences. This paper describes a model that uses Part of Speech tagger and three categories for word sense disambiguation (WSD). Human Computer Interaction is very needful to improve interactions between users and computers. For this, the Supervised and Unsupervised methods are combined. The WSD algorithm is used to find the efficient and accurate sense of a word based on domain information. The accuracy of this work is evaluated with the aim of finding best suitable domain of word. Keywords: Human Computer Interaction, Supervised Training, Unsupervised Learning, Word Ambiguity, Word sense disambiguation
Parameters Optimization for Improving ASR Performance in Adverse Real World N...Waqas Tariq
From the existing research it has been observed that many techniques and methodologies are available for performing every step of Automatic Speech Recognition (ASR) system, but the performance (Minimization of Word Error Recognition-WER and Maximization of Word Accuracy Rate- WAR) of the methodology is not dependent on the only technique applied in that method. The research work indicates that, performance mainly depends on the category of the noise, the level of the noise and the variable size of the window, frame, frame overlap etc is considered in the existing methods. The main aim of the work presented in this paper is to use variable size of parameters like window size, frame size and frame overlap percentage to observe the performance of algorithms for various categories of noise with different levels and also train the system for all size of parameters and category of real world noisy environment to improve the performance of the speech recognition system. This paper presents the results of Signal-to-Noise Ratio (SNR) and Accuracy test by applying variable size of parameters. It is observed that, it is really very hard to evaluate test results and decide parameter size for ASR performance improvement for its resultant optimization. Hence, this study further suggests the feasible and optimum parameter size using Fuzzy Inference System (FIS) for enhancing resultant accuracy in adverse real world noisy environmental conditions. This work will be helpful to give discriminative training of ubiquitous ASR system for better Human Computer Interaction (HCI). Keywords: ASR Performance, ASR Parameters Optimization, Multi-Environmental Training, Fuzzy Inference System for ASR, ubiquitous ASR system, Human Computer Interaction (HCI)
Interface on Usability Testing Indonesia Official Tourism WebsiteWaqas Tariq
Ministry of Tourism and Creative Economy of The Republic of Indonesia must meet the wide audience various needs and should reach people from all levels of society around the world to provide Indonesia tourism and travel information. This article will gives the details in the evolution of one important component of Indonesia Official Tourism Website as it has grown in functionality and usefulness over several years of use by a live, unrestricted community. We chose this website to see the website interface design and usability and to popularize Indonesia tourism and travel highlights. The analysis done by looking at the criteria specified for usability testing. Usability testing measures are the ease of use (effectiveness, efficiency, consistency and interface design), easy to learn, errors and syntax which is related to the human computer interaction. The purpose of this article is to test the usability level of the website, analyze the website interface design, and provide suggestions for improvements in Indonesia Official Tourism Website of analysis we have done before.
Monitoring and Visualisation Approach for Collaboration Production Line Envir...Waqas Tariq
In this paper, a tool, called SPMonitor, to monitor and visualize of run-time execution productive processes is proposed. SPMonitor enables dynamically visualizing and monitoring workflows running in a system. It displays versatile information about currently executed workflows providing better understanding about processes and the general functionality of the domain. Moreover, SPMonitor enhances cooperation between different stakeholders by offering extensive communication and problem solving features that allow actors concerned to react more efficiently to different anomalies that may occur during a workflow execution. The ideas discussed are validated through the study of real case related to airbus assembly lines.
LAND USE LAND COVER AND NDVI OF MIRZAPUR DISTRICT, UPRAHUL
This Dissertation explores the particular circumstances of Mirzapur, a region located in the
core of India. Mirzapur, with its varied terrains and abundant biodiversity, offers an optimal
environment for investigating the changes in vegetation cover dynamics. Our study utilizes
advanced technologies such as GIS (Geographic Information Systems) and Remote sensing to
analyze the transformations that have taken place over the course of a decade.
The complex relationship between human activities and the environment has been the focus
of extensive research and worry. As the global community grapples with swift urbanization,
population expansion, and economic progress, the effects on natural ecosystems are becoming
more evident. A crucial element of this impact is the alteration of vegetation cover, which plays a
significant role in maintaining the ecological equilibrium of our planet.Land serves as the foundation for all human activities and provides the necessary materials for
these activities. As the most crucial natural resource, its utilization by humans results in different
'Land uses,' which are determined by both human activities and the physical characteristics of the
land.
The utilization of land is impacted by human needs and environmental factors. In countries
like India, rapid population growth and the emphasis on extensive resource exploitation can lead
to significant land degradation, adversely affecting the region's land cover.
Therefore, human intervention has significantly influenced land use patterns over many
centuries, evolving its structure over time and space. In the present era, these changes have
accelerated due to factors such as agriculture and urbanization. Information regarding land use and
cover is essential for various planning and management tasks related to the Earth's surface,
providing crucial environmental data for scientific, resource management, policy purposes, and
diverse human activities.
Accurate understanding of land use and cover is imperative for the development planning
of any area. Consequently, a wide range of professionals, including earth system scientists, land
and water managers, and urban planners, are interested in obtaining data on land use and cover
changes, conversion trends, and other related patterns. The spatial dimensions of land use and
cover support policymakers and scientists in making well-informed decisions, as alterations in
these patterns indicate shifts in economic and social conditions. Monitoring such changes with the
help of Advanced technologies like Remote Sensing and Geographic Information Systems is
crucial for coordinated efforts across different administrative levels. Advanced technologies like
Remote Sensing and Geographic Information Systems
9
Changes in vegetation cover refer to variations in the distribution, composition, and overall
structure of plant communities across different temporal and spatial scales. These changes can
occur natural.
A Visual Guide to 1 Samuel | A Tale of Two HeartsSteve Thomason
These slides walk through the story of 1 Samuel. Samuel is the last judge of Israel. The people reject God and want a king. Saul is anointed as the first king, but he is not a good king. David, the shepherd boy is anointed and Saul is envious of him. David shows honor while Saul continues to self destruct.
How to Setup Warehouse & Location in Odoo 17 InventoryCeline George
In this slide, we'll explore how to set up warehouses and locations in Odoo 17 Inventory. This will help us manage our stock effectively, track inventory levels, and streamline warehouse operations.
ISO/IEC 27001, ISO/IEC 42001, and GDPR: Best Practices for Implementation and...PECB
Denis is a dynamic and results-driven Chief Information Officer (CIO) with a distinguished career spanning information systems analysis and technical project management. With a proven track record of spearheading the design and delivery of cutting-edge Information Management solutions, he has consistently elevated business operations, streamlined reporting functions, and maximized process efficiency.
Certified as an ISO/IEC 27001: Information Security Management Systems (ISMS) Lead Implementer, Data Protection Officer, and Cyber Risks Analyst, Denis brings a heightened focus on data security, privacy, and cyber resilience to every endeavor.
His expertise extends across a diverse spectrum of reporting, database, and web development applications, underpinned by an exceptional grasp of data storage and virtualization technologies. His proficiency in application testing, database administration, and data cleansing ensures seamless execution of complex projects.
What sets Denis apart is his comprehensive understanding of Business and Systems Analysis technologies, honed through involvement in all phases of the Software Development Lifecycle (SDLC). From meticulous requirements gathering to precise analysis, innovative design, rigorous development, thorough testing, and successful implementation, he has consistently delivered exceptional results.
Throughout his career, he has taken on multifaceted roles, from leading technical project management teams to owning solutions that drive operational excellence. His conscientious and proactive approach is unwavering, whether he is working independently or collaboratively within a team. His ability to connect with colleagues on a personal level underscores his commitment to fostering a harmonious and productive workplace environment.
Date: May 29, 2024
Tags: Information Security, ISO/IEC 27001, ISO/IEC 42001, Artificial Intelligence, GDPR
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Beyond Degrees - Empowering the Workforce in the Context of Skills-First.pptxEduSkills OECD
Iván Bornacelly, Policy Analyst at the OECD Centre for Skills, OECD, presents at the webinar 'Tackling job market gaps with a skills-first approach' on 12 June 2024
Philippine Edukasyong Pantahanan at Pangkabuhayan (EPP) CurriculumMJDuyan
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Design Error-based Linear Model-free Evaluation Performance Computed Torque Controller
1. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 151
Design Error-based Linear Model-free Evaluation Performance
Computed Torque Controller
Farzin Piltan SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co), NO:16
,PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Reza Bayat SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co), NO:16
,PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Farid Aghayari SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co), NO:16
,PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Bamdad Boroomand SSP.ROBOTIC@yahoo.com
Industrial Electrical and Electronic
Engineering SanatkadeheSabze
Pasargad. CO (S.S.P. Co), NO:16
,PO.Code 71347-66773, Fourth floor
Dena Apr , Seven Tir Ave , Shiraz , Iran
Abstract
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of
the most important challenging works. This research focuses on the design, implementation and
analysis of a model-free linear error-based tuning computed torque controller for highly nonlinear
dynamic second order system, in presence of uncertainties. In order to provide high performance
nonlinear methodology, computed torque controller is selected. Pure computed torque controller
can be used to control of partly known nonlinear dynamic parameters of nonlinear systems.
Conversely, pure computed torque controller is used in many applications; it has an important
drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In
order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid
mathematical model base controller, model-free performance/error-based linear methodology
with three inputs and one output is applied to pure computed torque controller. The results
demonstrate that the error-based linear tuning computed torque controller is a model-based
controllers which works well in certain and uncertain system. Pure computed torque controller has
difficulty in handling unstructured model uncertainties. To solve this problem applied linear model-
free error -based tuning method to computed torque controller for adjusting the linear inner loop
gain (ܭ ). Since the linear inner loop gain ()ܭ is adjusted by linear error-based tuning method, it is
linear and continuous. In this research new ܭ is obtained by the previous ܭ multiple gain updating
factor ሺߙሻ which is a coefficient varies between half to two.
Keywords: Computed Torque Controller, Linear on-line Tuning Method, Gain Updating Factor,
linear Inner loop Gain, Error-based Tuning Method.
2. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 152
1. INTRODUCTION, BACKGROUND and MOTIVATION
Controller is a device which can sense information from linear or nonlinear system (e.g., robot
manipulator) to improve the systems performance [1-3]. The main targets in designing control
systems are stability, good disturbance rejection, and small tracking error[4-5]. Several industrial
robot manipulators are controlled by linear methodologies (e.g., Proportional-Derivative (PD)
controller, Proportional- Integral (PI) controller or Proportional- Integral-Derivative (PID)
controller), but when robot manipulator works with various payloads and have uncertainty in
dynamic models this technique has limitations. From the control point of view, uncertainty is
divided into two main groups: uncertainty in unstructured inputs (e.g., noise, disturbance) and
uncertainty in structure dynamics (e.g., payload, parameter variations). In some applications robot
manipulators are used in an unknown and unstructured environment, therefore strong
mathematical tools used in new control methodologies to design nonlinear robust controller with
an acceptable performance (e.g., minimum error, good trajectory, disturbance rejection).
Computed torque controller is an influential nonlinear controller to certain and partly uncertain
systems which it is based on system’s dynamic model [6-20].
Computed torque controller (CTC) is a powerful nonlinear controller which it widely used in
control of robot manipulator. It is based on feedback linearization and computes the required arm
torques using the nonlinear feedback control law. This controller works very well when all
dynamic and physical parameters are known but when the robot manipulator has variation in
dynamic parameters, in this situation the controller has no acceptable performance[14]. In
practice, most of physical systems (e.g., robot manipulators) parameters are unknown or time
variant, therefore, computed torque like controller used to compensate dynamic equation of robot
manipulator[1, 6]. Research on computed torque controller is significantly growing on robot
manipulator application which has been reported in [1, 6, 15-16]. Vivas and Mosquera [15]have
proposed a predictive functional controller and compare to computed torque controller for tracking
response in uncertain environment. However both controllers have been used in feedback
linearization, but predictive strategy gives better result as a performance. A computed torque
control with non parametric regression models have been presented for a robot arm[16]. This
controller also has been problem in uncertain dynamic models. Based on [1, 6]and [15-16]
computed torque controller is a significant nonlinear controller to certain systems which it is based
on feedback linearization and computes the required arm torques using the nonlinear feedback
control law. When all dynamic and physical parameters are known, computed torque controller
works fantastically; practically a large amount of systems have uncertainties, therefore sliding
mode controller is one of the best case to solve this challenge.
In various dynamic parameters systems that need to be training on-line adaptive control
methodology is used. Adaptive control methodology can be classified into two main groups,
namely, traditional adaptive method and fuzzy adaptive method [21-75]. Fuzzy adaptive method
is used in systems which want to training parameters by expert knowledge. Traditional adaptive
method is used in systems which some dynamic parameters are known. In this research in order
to solve disturbance rejection and uncertainty dynamic parameter, error-based linear adaptive
method is applied to computed torque controller. Hsu et al. [54] have presented traditional
adaptive methods which can update fuzzy rules to compensate nonlinear parameters and
guarantee the stability. Hsueh et al. [43] have presented traditional self tuning method which can
resolve the controller problem.
For nonlinear dynamic systems with various parameters, adaptive control technique can train the
dynamic parameter to have an acceptable controller performance. Calculate several scale factors
are common challenge in pure computed torque controller, as a result it is used to adjust and
tune coefficient.
This paper is organized as follows:
In section 2, detail of classical computed torque controller is presented. In section 3, design error-
based linear tuning method is presented and applied to computed torque controller; this method
3. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 153
is used to reduce the error performance and estimation the equivalent part. In section 4,
simulation result is presented and finally in section 5, the conclusion is presented.
2. CASE STUDY and COMPUTED TORQUE CONTROLLER FORMULATION
Case study (Robot manipulator dynamic formulation): The equation of an n-DOF robot
manipulator governed by the following equation [1, 3, 15-29]:
ࡹሺሻሷ ࡺሺ, ሶ ሻ ൌ ࣎ (1)
Where τ is actuation torque, M (q) is a symmetric and positive define inertia matrix, ܰሺ,ݍ ݍሶሻ is the
vector of nonlinearity term. This robot manipulator dynamic equation can also be written in a
following form:
࣎ ൌ ࡹሺሻሷ ሺሻሾሶ ሶ ሿ ሺሻሾሶ ሿ
ࡳሺሻ (2)
Where B(q) is the matrix of coriolios torques, C(q) is the matrix of centrifugal torques, and G(q) is
the vector of gravity force. The dynamic terms in equation (2) are only manipulator position. This is
a decoupled system with simple second order linear differential dynamics. In other words, the
component ݍሷ influences, with a double integrator relationship, only the joint variableݍ,
independently of the motion of the other joints. Therefore, the angular acceleration is found as to
be [3, 10-29]:
ሷ ൌ ࡹିሺሻ. ሼ࣎ െ ࡺሺ, ሶ ሻሽ (3)
Computed Torque Controller: The central idea of Computed torque controller (CTC) is
feedback linearization so, originally this algorithm is called feedback linearization controller. It has
assumed that the desired motion trajectory for the manipulator ࢊሺ࢚ሻ, as determined, by a path
planner. Defines the tracking error as:
ࢋሺ࢚ሻ ൌ ࢊሺ࢚ሻ െ ࢇሺ࢚ሻ (4)
Where e(t) is error of the plant, ࢊሺ࢚ሻ is desired input variable, that in our system is desired
displacement, ࢇሺ࢚ሻ is actual displacement. If an alternative linear state-space equation in the
form ࢞ሶ ൌ ࢞ ࢁ can be defined as
࢞ሶ ൌ ቂ
ࡵ
ቃ ࢞ ቂ
ࡵ
ቃ ࢁ (5)
With ܷ ൌ െܯିଵሺݍሻ.ܰሺ,ݍ ݍሶሻ ܯିଵሺݍሻ.߬ and this is known as the Brunousky
canonical form. By equation (4) and (5) the Brunousky canonical form can be
written in terms of the state ݔ ൌ ሾ்݁
݁ሶ்
ሿ்
as [1]:
ࢊ
ࢊ࢚
ቂ
ࢋ
ࢋሶ
ቃ ൌ ቂ
ࡵ
ቃ . ቂ
ࢋ
ࢋሶ
ቃ ቂ
ࡵ
ቃ ࢁ
(6)
With
ࢁ ൌ ሷ ࢊ ࡹିሺሻ. ሼࡺሺ. ሶ ሻ െ ࣎ሽ (7)
Then compute the required arm torques using inverse of equation (7), is;
࣎ ൌ ࡹሺሻሺࢊሷ െ ࢁሻ ࡺሺሶ , ሻ (8)
This is a nonlinear feedback control law that guarantees tracking of desired trajectory. Selecting
proportional-plus-derivative (PD) feedback for U(t) results in the PD-computed torque controller
[6];
࣎ ൌ ࡹሺሻ൫ሷ ࢊ ࡷ࢜ࢋሶ ࡷࢋ൯ ࡺሺ, ሶ ሻ (9)
and the resulting linear error dynamics are
൫ሷ ࢊ ࡷ࢜ࢋሶ ࡷࢋ൯ ൌ (10)
According to the linear system theory, convergence of the tracking error to zero is guaranteed [6].
Where ࡷ and ࡷ࢜ are the controller gains. The result schemes is shown in Figure 1, in which two
5. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 155
The controller based on a formulation (12) is related to robot dynamics therefore it has problems
in uncertain conditions.
3. METHODOLOGY: ERROR-BASED LINEAR MODEL-FREE TUNING
COMPUTED TORQUE CONTROLLER
Computed torque controller has difficulty in handling unstructured model uncertainties. It is
possible to solve this problem by combining computed torque controller and linear error-based
tuning method which this method can helps to eliminate the error and improves the system’s
tracking performance by online tuning method. In this research the nonlinear equivalent dynamic
(equivalent part) formulation problem in uncertain system is solved by using on-line linear error-
based tuning theorem. In this method linear error-based theorem is applied to computed torque
controller to adjust the linear inner loop gain. Computed torque controller has difficulty in
handling unstructured model uncertainties and this controller’s performance is sensitive to linear
inner loop gain. It is possible to solve above challenge by combining linear error-based tuning
method and computed torque controller which this methodology can help to improve system’s
tracking performance by on-line tuning (linear error-based tuning) method. Based on above
discussion, compute the best value of linear inner loop gain has played important role to improve
system’s tracking performance especially when the system parameters are unknown or
uncertain. This problem is solved by tuning the linear inner loop gain (ࡷ) of the computed torque
controller continuously in real-time. In this methodology, the system’s performance is improved
with respect to the pure computed torque controller. Figure 2 shows the linear error-based tuning
computed torque controller.
FIGURE 2: Block diagram of a linear error-based computed torque controller: applied to robot arm
ࢌሺ࢞|ࣅሻ ൌ ࣅࢀ
ࢻ (13)
If minimum error (ࣅכ
) is defined by;
ࣅכ
ൌ ࢇ࢘ࢍ ሾቀࡿ࢛ቚࢌሺ࢞|ࣅሻ െ ࢌሺ࢞ሻቁሿ (14)
Where ߣ்
is adjusted by an adaption law and this law is designed to minimize the error’s
parameters of ࣅ െ ࣅכ
. adaption law in linear error-based tuning computed torque controller is used
to adjust the linear inner loop gain. Linear error-based tuning part is a supervisory controller
based on the following formulation methodology. This controller has three inputs namely; error
ሺ݁ሻ, change of error (݁ሶ) and the integral of error (∑݁) and an output namely; gain updating
factorሺߙሻ. As a summary design a linear error-based tuning is based on the following formulation:
6. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 156
ࢻ ൌ ࡷ. ࢋ ࢋሶ
ሺࡷሻ
∑ ࢋ
ࡷିࢋ ൌ ࢻ. ࣅࢋ ࢋሶ ֜ ࡷିࢋ ൌ ሺࡷ. ࢋ ࢋሶ
ሺࡷሻ
ࢋሻࣅࢋ ࢋሶ
(15)
ࣅࢀ࢛ࢋ ൌ ࣅ. ࢻ ֜ ࣅࢀ࢛ࢋ ൌ ࣅሺࡷ. ࢋ ࢋሶ
ሺࡷሻ
ࢋሻ
Where ሺߙሻ is gain updating factor, (∑ ݁) is the integral of error, (݁ሶ) is change of error, ሺ݁ሻ is error
and K is a coefficient.
4 Simulation Results
Pure computed torque controller has difficulty in handling unstructured model uncertainties. It is
possible to solve this problem by combining computed torque controller and linear error-based
tuning in a single controller method. This method can improve the system’s tracking performance
by online tuning method. This method is based on resolve the on line linear inner loop gain as
well as improve the output performance by tuning the linear inner loop coefficient. The linear inner
loop gain (ࡷ) of this controller is adjusted online depending on the last values of error ሺ݁ሻ, change
of error (݁ሶ) and integral of error by gain updating factor (ߙሻ.
Tracking performances: Based on (12) in computed torque controller; controller performance is
depended on the linear inner loop gain updating factor (.)ܭ These two coefficients are computed
by trial and error in CTC. The best possible coefficients in step CTC are; ܭ ൌ ܭ௩ ൌ ܭ ൌ 18. In
linear error-based tuning computed torque controller the linear inner loop gain is adjusted online
depending on the last values of error ሺ݁ሻ, change of error (݁ሶ) and integral of error by gain updating
factor (ߙሻ. Figure 3 shows tracking performance in computed torque controller (CTC) and linear
tuning computed torque controller (LTCTC) without disturbance for step trajectory.
FIGURE 3: CTC, LTCTC and desired input for first, second and third link step trajectory performance without
disturbance
7. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 157
Based on Figure 3 it is observed that, the overshoot in LTCTC is 0% and in CTC’s is 1%, and rise
time in LTCTC’s is 0.6 seconds and in CTC’s is 0.483 second. From the trajectory MATLAB
simulation for LTCTC and CTC in certain system, it was seen that all of two controllers have
acceptable performance.
Disturbance Rejection: Figures 4 to 6 show the power disturbance elimination in LTCTC and
CTC with disturbance for step trajectory. The disturbance rejection is used to test the robustness
comparisons of these two controllers for step trajectory. A band limited white noise with
predefined of 10%, 20% and 40% the power of input signal value is applied to the step trajectory.
It found fairly fluctuations in trajectory responses.
FIGURE 4: Desired input, LTCTC and CTC for first, second and third link trajectory with 10%external
disturbance: step trajectory
Based on Figure 4; by comparing step response trajectory with 10% disturbance of relative to the
input signal amplitude in LTCTC and CTC, LTCTC’s overshoot about (0%) is lower than PD-
CTC’s (1%). CTC’s rise time (0.5 seconds) is lower than LTCTC’s (0.65 second). Besides the
Steady State and RMS error in LTCTC and CTC it is observed that, error performances in LTCTC
(Steady State error =1.08e-12 and RMS error=1.5e-12) are bout lower than CTC’s (Steady
State error=1.6e-6 and RMS error=1.9e-6).
8. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 158
FIGURE 5: Desired input, LTCTC and CTC for first, second and third link trajectory with 20%external
disturbance: step trajectory
Based on Figure 5; by comparing step response trajectory with 20% disturbance of relative to the
input signal amplitude in LTCTC and CTC, LTCTC’s overshoot about (0%) is lower than CTC’s
(2.1%). CTC’s rise time (0.5 seconds) is lower than LTCTC’s (0.66 second). Besides the Steady
State and RMS error in LTCTC and CTC it is observed that, error performances in LTCTC
(Steady State error =1.2e-12 and RMS error=1.8e-12) are about lower than CTC’s (Steady
State error=1.8e-5 and RMS error=2e-5). Based on Figure 5, it was seen that, LTCTC’s
performance is better than CTC because LTCTC can auto-tune the inner loop gain coefficient as
the dynamic manipulator parameter’s change and in presence of external disturbance whereas
CTC cannot.
9. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 159
FIGURE 6: Desired input, LTCTC and CTC for first, second and third link trajectory with 40%external
disturbance: step trajectory
Based on Figure 6; by comparing step response trajectory with 40% disturbance of relative to the
input signal amplitude in LTCTC and CTC, LTCTC’s overshoot about (0%) is lower than CTC
(8%). CTC’s rise time (0.5 seconds) is lower than LTCTC’s (0.8 second). Besides the Steady
State and RMS error in LTCTC and CTC it is observed that, error performances in LTCTC
(Steady State error =1.3e-12 and RMS error=1.8e-12) are about lower than CTC’s (Steady
State error=10e-4 and RMS error=11e-4). Based on Figure 6, CTC has moderately oscillation in
trajectory response with regard to 40% of the input signal amplitude disturbance but LTCTC has
stability in trajectory responses in presence of uncertainty and external disturbance. Based on
Figure 6 in presence of 40% unstructured disturbance, LTCTC’s is more robust than CTC
because LTCTC can auto-tune the inner loop coefficient as the dynamic manipulator parameter’s
change and in presence of external disturbance whereas CTC cannot.
Steady state error: The error performance is used to test the disturbance effect comparisons of
these controllers for step trajectory. All three joint’s inputs are step function with the same step
time (step time= 1 second), the same initial value (initial value=0) and the same final value (final
value=5). LTCTC’s rise time is about 0.6 second, and CTC’s rise time is about 0.6 second which
caused to create a needle wave in the range of 5 (amplitude=5) and the different width. In this
system this time is transient time and this part of error introduced as a transient error. Besides the
Steady State and RMS error in LTCTC and CTC it is observed that, error performances in LTCTC
(Steady State error =0.9e-12 and RMS error=1.1e-12) are bout lower than CTC’s (Steady
State error=1e-8 and RMS error=1.2e-6). The LTCTC gives significant steady state error
performance when compared to CTC. When applied 40% disturbances in LTCTC the RMS error
increased approximately 0.0164% (percent of increase the LTCTC RMS
error=
ሺସ% ௗ௦௧௨ ோெௌ
ௗ௦௧௨ோெௌ
ൌ
ଵ.଼ିଵଶ
ଵ.ଵିଵଶ
ൌ 0.0164%), in CTC the RMS error increased
approximately 9.17% (percent of increase the PD-SMC RMS error=
ሺସ% ௗ௦௧௨ ோெௌ
ௗ௦௧௨ ோெௌ
ൌ
ଵଵିସ
ଵ.ଶି
ൌ 9.17%). In this part LTCTC and CTC have been comparatively evaluation through
10. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 160
MATLAB simulation, for PUMA robot manipulator control. It is observed that however LTCTC is
dependent of nonlinear dynamic equation of PUMA 560 robot manipulator but it can guarantee
the trajectory following in certain systems, structure uncertain systems and unstructured model
uncertainties by online tuning method.
5. CONCLUSIONS
Refer to this research, a linear model-free error-based tuning computed torque controller (LTCTC)
is proposed for robot manipulator. The first problem of the pure CTC was adjust the linear inner
loop gain in certain and uncertain systems. this problem can be reduced in certain system by
using trial and error methodology in computed torque control law. The simulation results exhibit
that the CTC works well in certain system. The nonlinear equivalent dynamic problem in uncertain
system is solved by using on-line tuning method. Pure CTC has difficulty in handling unstructured
model uncertainties. It is possible to solve this problem by combining error-based linear
methodology and computed torque controller. Since the linear inner loop gain ()ܭ is adjusted by
linear tuning method. The linear inner loop gain updating factor (ߙ) of error-based tuning part can
be changed with the changes in error and change of error and integral of error rate between half
to two. linear inner loop gain is adapted on-line by linear inner loop gain updating factor. In pure
CTC the linear inner loop gain is chosen by trial and error, which means pure CTC has to have a
prior knowledge of the system uncertainty. If the knowledge is not available error performance is
go up. In LTCTC the linear inner loop gain is updated on-line to compensate the system
unstructured uncertainty. The simulation results exhibit that the LTCTC works well in various
situations. Based on theoretical and simulation results, it is observed that LTCTC is a model-
based stable control for robot manipulator. It is a good solution to reduce the error in structure and
unstructured uncertainties.
REFERENCES
[1] T. R. Kurfess, Robotics and automation handbook: CRC, 2005.
[2] J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs,
NJ, 1991.
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Engineering, 5 (4):302-312, 2011.
[39] Farzin Piltan, N. Sulaiman, Samaneh Roosta, M.H. Marhaban, R. Ramli, “Design a New
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[41] Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive
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International Journal of Robotics and Automation, 2 (4):232-244, 2011.
13. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 163
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Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable
Structure Control ,” International Journal of Robotics and Automation, 2 (5):360-380, 2011.
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MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear
System,” International Journal of Engineering, 5 (5): 380-398, 2011.
[44] Farzin Piltan, N. Sulaiman, Hajar Nasiri, Sadeq Allahdadi, Mohammad A. Bairami, “Novel
Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding
Algorithm Inverse Dynamic Like Method,” International Journal of Engineering, 5 (5): 399-
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[45] Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame, Abbas Zare, “Position
Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy
Sliding Mode Control,” International Journal of Artificial intelligence and Expert System, 2
(5):208-228, 2011.
[46] Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari, Sobhan Siamak, “Artificial
Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine And Application to
Classical Controller ,” International Journal of Robotics and Automation, 2 (5):401-425, 2011.
[47] Farzin Piltan, N. Sulaiman, Abbas Zare, Sadeq Allahdadi, Mohammadali Dialame, “Design
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Journal of Robotics and Automation , 2 (5): 283-297, 2011.
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Algorithm: Applied to Robot Manipulator,” International Journal of Robotics and Automation,
2 (5):317-343, 2011.
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Applied to Robot Manipulator,” International Journal of Engineering, 5 (5):419-434, 2011.
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surface slope adjustment in PD Sliding Mode Fuzzy Control for Robot Manipulator,”
International Journal of Control and Automation , 4 (3): 65-76, 2011.
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Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review ,”
International Journal of Robotics and Automation, 2 (5):265-282, 2011.
[53] Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak, and Iman Nazari, “Control of Robot
Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy
Estimator Variable Structure Control ,” International Journal of Control and Automation, 4
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[54] Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta, Samira Soltani, “On line
Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode
14. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 164
Controller Based on Lyaponuv Theory,” International Journal of Robotics and Automation, 2
(5):381-400, 2011.
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Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in
Robot Manipulator,” International Journal of Engineering, 5 (5):360-379, 2011.
[56] Farzin Piltan, N. Sulaiman and I.AsadiTalooki, “Evolutionary Design on-line Sliding Fuzzy
Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine,”
International Journal of Engineering Science and Technology, 3 (10):7301-7308, 2011.
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16. Farzin Piltan, Reza Bayat, Farid Aghayari & Bamdad Boroomand
International Journal of Robotics and Automation (IJRA), Volume (3) : Issue (3) : 2012 166
[86] Farzin Piltan, M. A. Dialame, A. Zare, A. Badri ,”Design Novel Lookup table changed Auto
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Fuzzy Controller for Robotic Manipulator” International Journal of Robotics and
Automation, 3(1): 45-58, 2012.
[89] Farzin Piltan, M. Keshavarz, A. Badri, A. Zargari , ”Design novel nonlinear controller
applied to robot manipulator: design new feedback linearization fuzzy controller with
minimum rule base tuning method” International Journal of Robotics and Automation,
3(1): 1-18, 2012.
[90] Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed
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[92] Farzin Piltan, A. Hosainpour, E. Mazlomian, M.Shamsodini, M.H Yarmahmoudi. ”Online
Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”
International Journal of Robotics and Automation, 3(3): 2012.
[93] Farzin Piltan , M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.Hosainpour. ” PUMA-
560 Robot Manipulator Position Computed Torque Control Methods Using
MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB
Courses” International Journal of Robotics and Automation, 3(3): 2012.
[94] Farzin Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari & Mina Mirazaei . ” PUMA-560 Robot
Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their
Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB
Courses” International Journal of Robotics and Automation, 3(3): 2012.
[95] Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ” Evaluation Performance of 2nd
Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”
International Journal of Robotics and Automation, 3(3): 2012.
[96] Farzin Piltan, S. Rahmdel, S. Mehrara, R. Bayat.” Sliding Mode Methodology Vs. Computed
Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate
Nonlinear Control Courses” International Journal of Engineering, 3(3): 2012.
[97] Farzin Piltan, M. Mirzaie, F. Shahriyari, Iman nazari & S. Emamzadeh.” Design Baseline
Computed Torque Controller” International Journal of Engineering, 3(3): 2012.