Sharif Digital Repository

Purpose - This paper aims to develop an adaptive unscented Kalman filter (AUKF) formulation for orientation estimation of aircraft and UAV utilizing low-cost attitude and heading reference systems (AHRS). Design/methodology/approach - A recursive least-square algorithm with exponential age weighting in time is utilized for estimation of the unknown inputs. The proposed AUKF tunes its measurement covariance to yield optimal performance. Owing to nonlinear nature of the dynamic model as well as the measurement equations, an unscented Kalman filter (UKF) is chosen against the extended Kalman filter, due to its better performance characteristics. The unscented transformation of the UKF is shown... 

Proportional-integral (PI) controllers are the most common form of feedback used in industrial applications today [1][3]. The use of proportional and integral feedback also has a long history of practical applications [4]. For example, in the middle of the 18th century, centrifugal governors as the proportional feedback were applied to regulate the speed of windmills [5]. By the 19th century, it was known that using integral feedback could remove the offsets appearing in working with governors [6]. At present, PI control, still a very basic form of feedback, is also one of the first solutions often considered in the control of industrial systems [7]. On the other hand, in some applications,... 

Study on the potential abilities of the proportional-integral-weighted (PIw) controllers, as a recently proposed generalization for proportional-integral (PI) controllers, can be useful for improving the performance of traditional control systems. In this paper, adaptive PI and adaptive PIw controllers are designed to be used in control of a special class of nonlinear uncertain systems based on the Lyapanuv stability theorem. The effectiveness of the proposed controllers is illustrated by applying the proposed schemes to a Continuous Stirred-Tank Reactor (CSTR) system with an unknown parameter. Simulation results indicate that using adaptive PIw controllers, in comparison to using the... 

This paper presents a robust decentralized proportional-integral (PI) control design as a solution of the load frequency control (LFC) in a multi-area power system. In the proposed methodology, the system robustness margin and transient performance are optimized simultaneously to achieve the optimum PI controller parameters. The Kharitonov's theorem is used to determine the robustness margin, i.e., the maximal uncertainty bounds under which the stable performance of the power system is guaranteed. The integral time square error (ITSE) is applied to quantify the transient performance of the LFC system. In order to tune the PI gains, the control objective function is optimized using the... 

Position control of Shape Memory Alloy (SMA) actuators has been a challenging topic during the last years due to their nonlinearities in the governing physical equations as well as their hysteresis behaviors. Using the inverse of phenomenological hysteresis model in order to compensate the input-output hysteresis behavior of these actuators shows the effectiveness of this approach. In this paper, in order to control the tip deflection of a large deformation flexible beam actuated by an SMA actuator wire, a feedforward-feedback controller is proposed. The feedforward part of the proposed control system, maps the beam deflection into SMA temperature, is based on the inverse of the generalized... 

A Cúk converter operating in discontinuous capacitor voltage mode (DCVM) is an inherent power factor correction converter. A reduced-order switch-network model of a Cúk converter in DCVM is developed, which is valid for both dc-dc and ac-dc applications. The model can be used for controller analysis and design. Moreover, a fast dynamic response controller is proposed, which is an integration of a switching-frequency control unit and a proportional-integral (PI) controller. The PI controller is in charge of duty ratio adjustment. In the proposed controller, unlike conventional PI controllers, switching frequency is no longer fixed and varies as load changes. The switching-frequency control... 

In this paper a novel approach based on the emotional learning is proposed for improving the load-frequency control (LFC) system of a two-area interconnected power system with the consideration of generation rate constraint (GRC). The controller includes a neuro-fuzzy system with power error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critic's stress is reduced. The convergence and performance of the proposed controller, both in presence and absence of GRC, are compared with those of proportional integral (PI), fuzzy logic (FL), and hybrid neuro-fuzzy (HNF)... 

Utilizing model predictive controllers (MPC) as an active queue management scheme is investigated in this paper. Model based prediction of future output and determining optimized value of the control signal have made MPC as an advanced control strategy in various modern control systems. In this paper a new approach is proposed to alleviate the computational complexity of MPC in order to implement in fast dynamics systems like computer networks. Neural network approximation of MPC as an active queue management (AQM) method implemented here not only has less computational burden with respect to the common MPC approaches, but also results in better performance compare to the well-known AQM... 

This paper investigates the applicability of frequency-domain system identification technique to achieve the equivalent linear dynamics of an autonomous underwater vehicle for control design purposes. Frequency response analysis is performed on the nonlinear and coupled dynamics of the vehicle, utilizing the CIFER® software to extract a reduced-order model in the form of equivalent transfer functions. Advanced features such as chirp-z transform, composite window optimization, and conditioning are employed to achieve high quality and accurate frequency responses. A particular frequency-sweep input is implemented to the nonlinear simulation model to achieve pole-zero transfer functions for yaw...