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In this paper, designing a control law for teleoperation systems with flexible-link slave robots in the presence of dynamic uncertainties, disturbances, actuator faults and actuator constraints with time-varying communication delays is addressed. This study proposes a simple anti-saturation nonlinear fault-tolerant controller incorporating a disturbance observer. The attractive features of the proposed controller include the ability to cope with disturbances, avoiding actuators exceeding their usual bounds, and compensating for the actuator faults. Besides which, the controller has a simple structure, does not need a fault detection mechanism, and coordinates the master’s motion speed with the slave’s actuator. A Lyapunov–Krasovskii functional is used to prove the stability and tracking performance of the teleoperation system. The feasibility and efficiency of the proposed controller are corroborated through simulation results.
Padideh Rasouli; Mazda Moattari; Ahmad Forouzantabar. Nonlinear disturbance observer-based fault-tolerant control for flexible teleoperation systems with actuator constraints and varying time delay. Transactions of the Institute of Measurement and Control 2021, 43, 2246 -2257.
AMA StylePadideh Rasouli, Mazda Moattari, Ahmad Forouzantabar. Nonlinear disturbance observer-based fault-tolerant control for flexible teleoperation systems with actuator constraints and varying time delay. Transactions of the Institute of Measurement and Control. 2021; 43 (10):2246-2257.
Chicago/Turabian StylePadideh Rasouli; Mazda Moattari; Ahmad Forouzantabar. 2021. "Nonlinear disturbance observer-based fault-tolerant control for flexible teleoperation systems with actuator constraints and varying time delay." Transactions of the Institute of Measurement and Control 43, no. 10: 2246-2257.
Due to the growing power demands in microgrids (MGs), the necessity for parallel production achieved from distributed generations (DGs) to supply the load required by customers has been increased. Since the DGs have to procure the demand in parallel mode, they are faced with several technical and economic challenges, such as preventing DGs overloading and not losing network stability considering feeder impedance variation. This paper presents a method that upgrades the droop controller based on sliding mode approach, so that DGs are able to prepare a suitable reactive power sharing without error even in more complex MGs. In the proposed strategy, the third-order sliding mode controller significantly reduces the V-Q error and increases the accuracy in adjusting the voltage at the DG output terminals. Various case studies conducted out in this paper validate the truthfulness of the proposed method, considering the stability analysis using Lyapunov function. Finally, by comparing the control parameters of the proposed technique with existing methods, the superiority, simplicity and effectiveness of the 3rd order sliding mode control (SMC) method are determined.
Abdonaser Saleh-Ahmadi; Mazda Moattari; Amir Gahedi; Edris Pouresmaeil. Droop Method Development for Microgrids Control Considering Higher Order Sliding Mode Control Approach and Feeder Impedance Variation. Applied Sciences 2021, 11, 967 .
AMA StyleAbdonaser Saleh-Ahmadi, Mazda Moattari, Amir Gahedi, Edris Pouresmaeil. Droop Method Development for Microgrids Control Considering Higher Order Sliding Mode Control Approach and Feeder Impedance Variation. Applied Sciences. 2021; 11 (3):967.
Chicago/Turabian StyleAbdonaser Saleh-Ahmadi; Mazda Moattari; Amir Gahedi; Edris Pouresmaeil. 2021. "Droop Method Development for Microgrids Control Considering Higher Order Sliding Mode Control Approach and Feeder Impedance Variation." Applied Sciences 11, no. 3: 967.
Due to the increasing necessity for electrical demand, the microgrids (MGs) based on distributed generations (DGs) within power electronic interfaces are being extended to improve the traditional network control. One of the common ways to achieve power sharing among the resources on an islanding MG is to use the droop control approach, performing based on proportional-integrator (PI) controllers. However, due to the effect of feeder impedance, obtaining the reactive power sharing using this method is not accurate and leads to overload in some DGs, resulting in the output terminal voltage of each DG going outside of the allowable range. The second problem arises when the frequency measurement is not performed precisely, leading to inaccurate active power sharing, which can be solved by using an improved phase locked loop (PLL). Therefore, the purpose of this paper is to propose an applicable and simple approach based on the use of conventional droop characteristics and a proportional-resonant (PR) controller in a DG control system. Due to the load changes in the microgrid and other contingencies, the proposed PLL-based controller is able to represent supreme performance with low error in several case studies.
Ahmad Zare; Mazda Moattari; Rui Melicio. Distributed Generation Control Using Modified PLL Based on Proportional-Resonant Controller. Applied Sciences 2020, 10, 8891 .
AMA StyleAhmad Zare, Mazda Moattari, Rui Melicio. Distributed Generation Control Using Modified PLL Based on Proportional-Resonant Controller. Applied Sciences. 2020; 10 (24):8891.
Chicago/Turabian StyleAhmad Zare; Mazda Moattari; Rui Melicio. 2020. "Distributed Generation Control Using Modified PLL Based on Proportional-Resonant Controller." Applied Sciences 10, no. 24: 8891.
In this paper, a simple but effective voltage-based fuzzy sliding mode control (SMC) is proposed to control the position of a class of flexible-joints robot manipulators with n degrees of freedom in presence of matched and mismatched uncertainties related to the electrical and mechanical equations. In order to solve problems in comparison with conventional SMC, a sliding surface with the time-varying parameter is proposed which not only eliminates chattering and increases the stability of the closed loop system, but also prevents the increase of the control input voltage. Furthermore, an approach is proposed to calculate the sliding surface vector coefficients which, in presence of the existing uncertainties, guarantee the global asymptotically stability of the closed loop system. Finally, simulation and practical implementation results are presented to exhibit the helpfulness of the proposed control technique compared to the previous methods.
Mohammad Reza Soltanpour; Saeed Zaare; Mahyar Haghgoo; Mazda Moattari. Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mismatched Uncertainties in Model Dynamic and Actuators. Journal of Intelligent & Robotic Systems 2020, 100, 47 -69.
AMA StyleMohammad Reza Soltanpour, Saeed Zaare, Mahyar Haghgoo, Mazda Moattari. Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mismatched Uncertainties in Model Dynamic and Actuators. Journal of Intelligent & Robotic Systems. 2020; 100 (1):47-69.
Chicago/Turabian StyleMohammad Reza Soltanpour; Saeed Zaare; Mahyar Haghgoo; Mazda Moattari. 2020. "Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mismatched Uncertainties in Model Dynamic and Actuators." Journal of Intelligent & Robotic Systems 100, no. 1: 47-69.
This study addresses the control problem of a teleoperation system with the slave flexible-link in the face of time delay, dynamic uncertainties, disturbances, and actuator faults. In the presence of actuator failures or when unknown disturbances act on the master and slave manipulators, the teleoperation system will be more likely to face the performance degradation and even instability. This paper proposes a simple proportional-derivative controller in conjunction with a disturbance observer and an auxiliary controller. Advantages of the proposed control law include its simple structure and no requirement for fault detection and isolation mechanism; thus, it is appropriate for implementation. Additive appealing features are that the controller can compensate dynamic uncertainties, disturbances, and actuator failures. Using a Lyapunov function, it is demonstrated that all the signals in the closed-loop system are ensured to be ultimately bounded. Simulation results are presented to verify the effectiveness of the proposed controller.
Padideh Rasouli; Ahmad Forouzantabar; Mazda Moattari; Mohammad Azadi. Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation. Iranian Journal of Science and Technology, Transactions of Electrical Engineering 2020, 44, 1487 -1499.
AMA StylePadideh Rasouli, Ahmad Forouzantabar, Mazda Moattari, Mohammad Azadi. Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation. Iranian Journal of Science and Technology, Transactions of Electrical Engineering. 2020; 44 (4):1487-1499.
Chicago/Turabian StylePadideh Rasouli; Ahmad Forouzantabar; Mazda Moattari; Mohammad Azadi. 2020. "Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation." Iranian Journal of Science and Technology, Transactions of Electrical Engineering 44, no. 4: 1487-1499.
Stability and transparency are the primary aims in the control nonlinear master and slave systems. Ignoring input saturation and disturbances like dynamic uncertainties may result in performance depression and instability of the system. This paper proposes a nonlinear controller to guarantee the stability and to ameliorate the adverse effects of disturbances, time delays and input saturation on a master and slave system. First, a disturbance observer is developed without requiring acceleration measurements. Then, a disturbance observer-based control law is proposed for the case of input saturation to suppress the problems caused by saturation. The proposed controller can prevent the actuators to work beyond their capabilities and also, effectively handles abnormal situations. The Lyapunov-based analysis shows the ultimately boundedness of the closed-loop signals. Finally, simulations are given to validate the results.
P. Rasouli; A. Forouzantabar; Mazda Moattari; M. Azadi. Disturbance Observer-Based Control of Master and Slave Systems with Input Saturation. Automatic Control and Computer Sciences 2020, 54, 19 -29.
AMA StyleP. Rasouli, A. Forouzantabar, Mazda Moattari, M. Azadi. Disturbance Observer-Based Control of Master and Slave Systems with Input Saturation. Automatic Control and Computer Sciences. 2020; 54 (1):19-29.
Chicago/Turabian StyleP. Rasouli; A. Forouzantabar; Mazda Moattari; M. Azadi. 2020. "Disturbance Observer-Based Control of Master and Slave Systems with Input Saturation." Automatic Control and Computer Sciences 54, no. 1: 19-29.
This study investigates a voltage-based adaptive sliding mode control (VB-ASMC) to tracking the position of an \(n\) rigid-link flexible-joint (RLFJ) robot manipulator under the presence of uncertainties and external disturbances. First, the dynamic equations of the \(n\)-RLFJ robot manipulator have been divided into \(n\) subsystems, and for each of them a voltage-based sliding mode control (VB-SMC) is designed simultaneously. The mathematical proof shows that the closed-loop system under VB-SMC has global asymptotic stability. Second, due to the use of the sign function in the VB-SMC structure, the occurrence of chattering is inevitable. Therefore, to overcome this problem, an adaptive estimator is designed to estimate the boundary of uncertainties. Since the adaptive estimator part in the VB-ASMC has only one law, the proposed control has a very low computational volume. The Lyapunov stability theorem shows that the controlled closed-loop system under the VB-ASMC has global asymptotic stability. Finally, extensive simulations on the single and 2-RLFJ robot manipulator and practical implementation on the single-RLFJ robot manipulator are presented to demonstrate the effectiveness and improved performance of the proposed control scheme.
Saeed Zaare; Mohammad Reza Soltanpour; Mazda Moattari. Adaptive sliding mode control of $n$ flexible-joint robot manipulators in the presence of structured and unstructured uncertainties. Multibody System Dynamics 2019, 47, 397 -434.
AMA StyleSaeed Zaare, Mohammad Reza Soltanpour, Mazda Moattari. Adaptive sliding mode control of $n$ flexible-joint robot manipulators in the presence of structured and unstructured uncertainties. Multibody System Dynamics. 2019; 47 (4):397-434.
Chicago/Turabian StyleSaeed Zaare; Mohammad Reza Soltanpour; Mazda Moattari. 2019. "Adaptive sliding mode control of $n$ flexible-joint robot manipulators in the presence of structured and unstructured uncertainties." Multibody System Dynamics 47, no. 4: 397-434.
In this paper, a voltage-based sliding mode control (SMC) is presented to control the position of n rigid-link flexible-joint (RLFJ) serial robot manipulator in the presence of structured and unstructured uncertainties. In addition to good performance, the proposed method has three attracting properties: First, it has been developed for a class of RLFJ robot manipulators with a n degree of freedom (DOF). Second, the design process includes all the manipulator dynamical equations, the mechanical and the electrical part of the actuator. Third, the simple structure and low volume of computing make practical implementation possible. Using the idea of the independent joint control strategy, the system dynamic equations are decomposed into n independent subsystems. For each subsystem, three sliding surfaces are defined. Then using these sliding surfaces, control input laws are designed for all subsystems simultaneously. It is proved that the proposed method can guarantee the asymptotic stability of each subsystems and the global asymptotic stability of the closed-loop system in the presence of uncertainties. The results of simulations, as well as experimental results produced using MATLAB/Simulink external mode control on a flexible-joint electrically driven robot manipulator, illustrate high efficiency of the proposed control schemes.
Saeed Zaare; Mohammad Reza Soltanpour; Mazda Moattari. Voltage based sliding mode control of flexible joint robot manipulators in presence of uncertainties. Robotics and Autonomous Systems 2019, 118, 204 -219.
AMA StyleSaeed Zaare, Mohammad Reza Soltanpour, Mazda Moattari. Voltage based sliding mode control of flexible joint robot manipulators in presence of uncertainties. Robotics and Autonomous Systems. 2019; 118 ():204-219.
Chicago/Turabian StyleSaeed Zaare; Mohammad Reza Soltanpour; Mazda Moattari. 2019. "Voltage based sliding mode control of flexible joint robot manipulators in presence of uncertainties." Robotics and Autonomous Systems 118, no. : 204-219.
In this paper, distributed estimation of the target position in heterogeneous sensor networks has been considered when the communication between the nodes in the sensor network may involve delays. Each node in the network employs a micro-filter, which estimates the target position merely by using its own measurements. Then, the nodes share their estimations and their accuracies with their neighbors. An algorithm has been proposed to fuse the delayed neighboring information at each node and to compute the distributed estimation of the target position. The proposed method guarantees that the distributed estimation error is zero-mean. It also provides the estimation error covariance at each node. Moreover, simulation results are presented to demonstrate the effectiveness of the proposed method.
Mazda Moattari; Vahid Johari Majd. Cooperative Fusion for Distributed Estimation of Target Position in Heterogeneous Networks with Communication Delays. Iranian Journal of Science and Technology, Transactions of Electrical Engineering 2018, 43, 201 -210.
AMA StyleMazda Moattari, Vahid Johari Majd. Cooperative Fusion for Distributed Estimation of Target Position in Heterogeneous Networks with Communication Delays. Iranian Journal of Science and Technology, Transactions of Electrical Engineering. 2018; 43 (S1):201-210.
Chicago/Turabian StyleMazda Moattari; Vahid Johari Majd. 2018. "Cooperative Fusion for Distributed Estimation of Target Position in Heterogeneous Networks with Communication Delays." Iranian Journal of Science and Technology, Transactions of Electrical Engineering 43, no. S1: 201-210.
This paper addresses the cooperative stochastic state estimation of a moving target using a switching sensor network that may contain communication delays. The switching in the graph of the sensor network may be due to local communication failures of the neighboring sensors or due to their movements. The network may have heterogeneous sensors with different measurement vectors of various combinations of states. Using a Kalman filter, the states of the target system are estimated at each node having only its local neighboring information. The network nodes cooperate locally with a packet-based communication to improve the estimation. Finally, numerical examples are provided to show the effectiveness of the scheme. The results are compared with the centralized and local estimations.
Mazda Moattari; Vahid Johari Majd. Local node cooperative estimation of stochastic systems using a switching network of heterogeneous sensors with communication delay. Information Sciences 2018, 450, 157 -168.
AMA StyleMazda Moattari, Vahid Johari Majd. Local node cooperative estimation of stochastic systems using a switching network of heterogeneous sensors with communication delay. Information Sciences. 2018; 450 ():157-168.
Chicago/Turabian StyleMazda Moattari; Vahid Johari Majd. 2018. "Local node cooperative estimation of stochastic systems using a switching network of heterogeneous sensors with communication delay." Information Sciences 450, no. : 157-168.
This paper presents a snake robot able to pass different and difficult paths because of special physical form and movement joints mechanism. These snake robots have no passive wheels. The robot moves by friction between the robot body and the surface on which it is. The joints have been designed and fabricated in a way that each joint has two freedom grades and it may move 228 degrees in every direction. Each joint has two DC servo motors and the power is transferred from the motors output to the joint shaft through bevel gear. The flexibility of the robot makes possible to move forward, back and laterally by imitating real snake's moves. In this paper different measures have been presented in order to design and assemble the joints, motors driver, different ways to guide the robot and its vision.
Mazda Moattari; Mohammad A. Bagherzadeh. Flexible snake robot: Design and implementation. 2013 3rd Joint Conference of AI & Robotics and 5th RoboCup Iran Open International Symposium 2013, 1 -5.
AMA StyleMazda Moattari, Mohammad A. Bagherzadeh. Flexible snake robot: Design and implementation. 2013 3rd Joint Conference of AI & Robotics and 5th RoboCup Iran Open International Symposium. 2013; ():1-5.
Chicago/Turabian StyleMazda Moattari; Mohammad A. Bagherzadeh. 2013. "Flexible snake robot: Design and implementation." 2013 3rd Joint Conference of AI & Robotics and 5th RoboCup Iran Open International Symposium , no. : 1-5.
In this paper, a novel method for the digital image stabilization is proposed that use variance properties (VDIS) to reduce the computational cost of block matching algorithm for local motion estimation. This method based on calculation of variance of pixels in each frame and accumulated variance of each pixel in each location from first reference frame to current frame. Then calculate summation of all accumulated variance for current frame and using them for select best macroblock. Four macroblocks are used in each frame. By statistical calculation the best macroblock is selected then local motion vector (LMV) of selected macroblock, is estimated by using Full search algorithm. LMV of selected macroblcok is used as global motion vector(GMV) and it is used to stabilize that frame. Full search algorithm is used for motion estimation in selected macroblock, but partial distortion elimination (PDE)[1] method was used to terminate the improper candidate blocks and reduce computation for block matching.
M.H. Shakoor; M. Moattari. Digital image stabilization based on variance properties. 2010 Third International Symposium on Knowledge Acquisition and Modeling 2010, 159 -162.
AMA StyleM.H. Shakoor, M. Moattari. Digital image stabilization based on variance properties. 2010 Third International Symposium on Knowledge Acquisition and Modeling. 2010; ():159-162.
Chicago/Turabian StyleM.H. Shakoor; M. Moattari. 2010. "Digital image stabilization based on variance properties." 2010 Third International Symposium on Knowledge Acquisition and Modeling , no. : 159-162.
There are many methods for digital image stabilization. In this paper, a fast algorithm for the digital image stabilization is proposed that use background small area for digital image stabilization. Background areas are some parts of image that have not motion object and they are suitable for global motion estimation. by using background area most of the computations for calculation of global motion are reduced and we can used local motion vector in background area directly as global motion vector. All background area are not good for motion estimation. We must use only the non uniform background area because usually motion estimation in uniform area produces incorrect result. In our proposed method 16 block in all corners (4 block for each corner) are selected then by proposed method one of these blocks is selected as best block(non uniform block that belong to the background) then local motion vector(LMV) is calculated only for this block, and it is used as global motion vector(GMV) and it is used to stabilize that frame. in next frame at first we test conditions of previous location block for new frame and if it provide our conditions we use that block for new frames so many computations have eliminated otherwise new block location must be search that provide our conditions. until selected block has conditions of our algorithm. It is used, When it has not the conditions we search new block that provides our conditions. In proposed method full search algorithm is used for local motion estimation, but instead of searching points in a block for full search we use, partial distortion elimination (PDE) method that was used to terminate the improper candidate blocks and reduce computation for block matching in full search method.
M.H. Shakoor; M. Moattari. A new fast method for digital image stabilization. 2010 3rd International Conference on Advanced Computer Theory and Engineering(ICACTE) 2010, 2, V2-350 -V2-354.
AMA StyleM.H. Shakoor, M. Moattari. A new fast method for digital image stabilization. 2010 3rd International Conference on Advanced Computer Theory and Engineering(ICACTE). 2010; 2 ():V2-350-V2-354.
Chicago/Turabian StyleM.H. Shakoor; M. Moattari. 2010. "A new fast method for digital image stabilization." 2010 3rd International Conference on Advanced Computer Theory and Engineering(ICACTE) 2, no. : V2-350-V2-354.
In this paper, an approach to DTC control scheme for induction machine is developed which makes DTC more applicable while it has lower torque ripple, lower flux ripple and almost fixed switching frequency rather than other DTC methods. Comparisons between simulation and practical results confirm that not any noticeable advantage of other developed DTCs is lost while it becomes more applicable. The possibility of utilizing high speed chips like FPGAs or low cost DSPs is the priority of the presented method.
Mazda Moattari; Seyed Ali Beheshtian; Roozbeh Asad; Mohammad Hosain Shakoor. Application of Neural Networks in Direct Torque Control of Induction Motors by Reference Flux Vector Method. 2010 International Conference on Intelligent Computing and Cognitive Informatics 2010, 41 -44.
AMA StyleMazda Moattari, Seyed Ali Beheshtian, Roozbeh Asad, Mohammad Hosain Shakoor. Application of Neural Networks in Direct Torque Control of Induction Motors by Reference Flux Vector Method. 2010 International Conference on Intelligent Computing and Cognitive Informatics. 2010; ():41-44.
Chicago/Turabian StyleMazda Moattari; Seyed Ali Beheshtian; Roozbeh Asad; Mohammad Hosain Shakoor. 2010. "Application of Neural Networks in Direct Torque Control of Induction Motors by Reference Flux Vector Method." 2010 International Conference on Intelligent Computing and Cognitive Informatics , no. : 41-44.
This work presents a fuzzy iterative learning control (FILC) approach for reactive power planning in distribution systems. The reactive power is control by shunt capacitor banks. The problem formulation considers two distinct objectives related to total cost of power loss and total cost of capacitors including the purchase and installation costs. The formulation is a multi-objective and non-differentiable optimization problem. The proposed method of this article uses FILC for sizing and sitting of capacitor banks in radial distribution feeders. The proposed method has been implemented in a software package and its effectiveness has been verified through a 9-bus radial distribution feeder along with a 34-bus radial distribution feeder for the sake of conclusions supports. A comparison has been done among the proposed method of this paper and similar methods in other research works that shows the effectiveness of the proposed method of this paper for solving optimum capacitor planning problem.
Mazda Moattari; Mehdi Ahrari Nouri; Ahmadreza Argha. Adopting fuzzy iterative learning control method for reactive power planning in distribution systems. 2010 4th International Power Engineering and Optimization Conference (PEOCO) 2010, 528 -532.
AMA StyleMazda Moattari, Mehdi Ahrari Nouri, Ahmadreza Argha. Adopting fuzzy iterative learning control method for reactive power planning in distribution systems. 2010 4th International Power Engineering and Optimization Conference (PEOCO). 2010; ():528-532.
Chicago/Turabian StyleMazda Moattari; Mehdi Ahrari Nouri; Ahmadreza Argha. 2010. "Adopting fuzzy iterative learning control method for reactive power planning in distribution systems." 2010 4th International Power Engineering and Optimization Conference (PEOCO) , no. : 528-532.
In this paper a new method for motion estimation based on block matching, is proposed. This new method which is a combination of TSS and Cross search algorithm is used to estimate the local motions of an image for image stabilization. In the proposed method, instead of original image, bit-plane image is used to increase the speed of processing. Moreover, for global motion estimation a fuzzy-based method is employed to reduce or remove the error.
M.H. Shakoor; M. Moattari. A fuzzy method based on bit-plane images for stabilizing digital images. 2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP) 2010, 106 -108.
AMA StyleM.H. Shakoor, M. Moattari. A fuzzy method based on bit-plane images for stabilizing digital images. 2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP). 2010; ():106-108.
Chicago/Turabian StyleM.H. Shakoor; M. Moattari. 2010. "A fuzzy method based on bit-plane images for stabilizing digital images." 2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP) , no. : 106-108.
In this paper, an efficient algorithm for the fast full search is proposed to reduce the computational cost of block matching algorithm for local motion estimation in digital image stabilization (DIS). This method based on histogram sorting. For the current block, the proposed fast matching method adaptively sorts the matching order pixel-by-pixel for each block. Also, partial distortion elimination (PDE) method was used to terminate the improper candidate blocks and reduce computation for block matching. Also a new method for extract global motion vector from local motion vectors of 4 areas is proposed. Some test sequences were simulated and the experimental results demonstrate that the proposed algorithm achieves less computational load.
M.H. Shakoor; M. Moattari. Digital Image Stabilization Using Histogram-Based Sorting. 2009 Second International Symposium on Knowledge Acquisition and Modeling 2009, 3, 266 -268.
AMA StyleM.H. Shakoor, M. Moattari. Digital Image Stabilization Using Histogram-Based Sorting. 2009 Second International Symposium on Knowledge Acquisition and Modeling. 2009; 3 ():266-268.
Chicago/Turabian StyleM.H. Shakoor; M. Moattari. 2009. "Digital Image Stabilization Using Histogram-Based Sorting." 2009 Second International Symposium on Knowledge Acquisition and Modeling 3, no. : 266-268.
In general, traditional controllers used for underwater vehicles are complex, non-adaptive and somewhat slow. On the other hand, it is difficult to accurately determine the hydrodynamic coefficients and the dynamics of underwater vehicles. They are highly nonlinear; therefore, intelligent methods are suitable choice for their control. In this paper, an intelligent neural network method for diving of a variable mass underwater vehicle is presented. The control scheme is capable of learning and adapting to changes in the vehicle dynamics and parameters. The control scheme consists of a gain tuning neural network and a variable gain PID controller. This neural network is trained so that the error between the plant output and reference signal is minimized. The results of this control scheme are compared with a constant gain PID controller. It is shown that the presented control scheme is better and more robust against disturbance than the conventional controller.
Mazda Moattari; Alireza Khayatian. A neural network controller for diving of a variable mass autonomous underwater vehicle. 2008 SICE Annual Conference 2008, 1339 -1344.
AMA StyleMazda Moattari, Alireza Khayatian. A neural network controller for diving of a variable mass autonomous underwater vehicle. 2008 SICE Annual Conference. 2008; ():1339-1344.
Chicago/Turabian StyleMazda Moattari; Alireza Khayatian. 2008. "A neural network controller for diving of a variable mass autonomous underwater vehicle." 2008 SICE Annual Conference , no. : 1339-1344.