Design of sliding mode and model reference adaptive control strategies for multivariable tape transport mechanism: a performance comparison

This paper presents sliding mode control and model reference adaptive control strategies for the tape transport mechanism. A nonlinear multivariable MIMO model of the process, consisting of take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. The sliding mode control is applied for the nonlinear dynamic model of the process, while the model reference adaptive control deals with the linearized one. Moreover, in order to associate with the realistic model of system, design of controllers is accomplished with respect to parametric uncertainties. It is shown that both control strategies can guarantee asymptotic stability of the closed-loop system and tracking of desired outputs with the appropriate pace in the presence of uncertainties. Finally, simulation results demonstrate the effectiveness of the proposed controllers.     

Congestion-aware channel assignment for multi-channel wireless mesh networks

In this paper, we propose a distributed congestion-aware channel assignment (DCACA) algorithm for multi-channel wireless mesh networks (MC–WMNs). The frequency channels are assigned according to the congestion measures which indicate the congestion status at each link. Depending on the selected congestion measure (e.g., queueing delay, packet loss probability, and differential backlog), various design objectives can be achieved. Our proposed distributed algorithm is simple to implement as it only requires each node to perform a local search. Unlike most of the previous channel assignment schemes, our proposed algorithm assigns not only the non-overlapped (i.e., orthogonal) frequency channels, but also the partially-overlapped channels. In this regard, we introduce the channel overlapping and mutual interference matrices which model the frequency overlapping among different channels. Simulation results show that in the presence of elastic traffic (e.g., TCP Vegas or TCP Reno) sources, our proposed DCACA algorithm increases the aggregate throughput and also decreases the average packet round-trip compared with the previously proposed Load-Aware channel assignment algorithm. Furthermore, in a congested IEEE 802.11b network setting, compared with the use of three non-overlapped channels, the aggregate network throughput can further be increased by 25% and the average round-trip time can be reduced by more than one half when all the 11 partially-overlapped channels are used.     

A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator

In this paper a hybrid control strategy is presented based on Dynamic Matrix Control (DMC) and feedback linearization methods for designing a predictive controller of five bar linkage manipulator as a MIMO system (two inputs and two outputs). Analyzing the internal dynamic of robot shows the open loop system is unstable and non-minimum phase, so in order to apply the predictive controller, special modifications are needed. These modifications on non-minimum phase behavior are performed using feedback linearization procedure based on state space realization. The design objective is to track a desirable set point as well as time varying trajectories as a command references with globally asymptotical stabilization. The proposed controller is applied to nonlinear fully coupled model of the typical five bar linkage manipulator with non-minimum phase behavior. Simulation results show that the proposed controller has good efficiency. The step responses of system with and without feedback linearization process illustrated that the mentioned modification for stabilizing is performed properly. After applying the proposed predictive controller, the joint angle of robot tracks the reference input while another input acts as the disturbance and vice versa.     

Critical rotational speed,critical velocity of fluid flow and free vibration analysis of a spinning SWCNT conveying viscous fluid

In this article, the influences of rotational speed and velocity of viscous fluid flow on free vibration behavior of spinning single-walled carbon nanotubes (SWCNTs) are investigated using the modified couple stress theory (MCST). Taking attention to the first-order shear deformation theory, the modeled rotating SWCNT and its equations of motion are derived using Hamilton’s principle. The formulations include Coriolis, centrifugal and initial hoop tension effects due to rotation of the SWCNT. This system is conveying viscous fluid, and the related force is calculated by modified Navier–Stokes relation considering slip boundary condition and Knudsen number. The accuracy of the presented model is validated with some cases in the literatures. Novelty of this study is considering the effects of spinning, conveying viscous flow and MCST in addition to considering the various boundary conditions of the SWCNT. Generalized differential quadrature method is used to approximately discretize the model and to approximate the equations of motion. Then, influence of material length scale parameter, velocity of viscous fluid flow, angular velocity, length, length-to-radius ratio, radius-to-thickness ratio and boundary conditions on critical speed, critical velocity and natural frequency of the rotating SWCNT conveying viscous fluid flow are investigated.     

Bounded‐Input Control of the Quadrotor Unmanned Aerial Vehicle: A Vision‐Based Approach

In this paper, a bounded‐input controller is designed for the quadrotor vertical take‐off and landing unmanned aerial vehicle (UAV). Visual information is used to localize the aircraft with respect to its environment and an image‐based visual servo scheme is developed to navigate the motion of it. The visual features are selected from perspective image moments and projected on a rotated image plane, which simplifies the controller design. The flow of the features is used as the linear velocity information, and the controller assumes angular velocity and attitude information available for feedback. To design the controller, the dynamics of the quadrotor are decoupled into two parts: translational dynamics and rotational dynamics. First visual data are used to design a bounded‐input controller for the translational dynamics, and then a saturated controller is designed for the rotational dynamics. The boundedness of the controller increases the chance of keeping the visual features in the field of view of the camera. Furthermore, the controllers also cope with the unknown depth of the image, and the external disturbances. The complete stability analysis of the overall system is presented to show that all states are bounded and the error signals converge to zero asymptotically. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.     

RETRACTED ARTICLE: Chaotic simulation of the multi-phase reinforced thermo-elastic disk using GDQM

In this research, a mathematical derivation is made to develop a nonlinear dynamic model for the nonlinear frequency and chaotic responses of the multi-scale hybrid nano-composite reinforced disk in the thermal environment and subject to a harmonic external load. Using Hamilton’s principle and the von Karman nonlinear theory, the nonlinear governing equation is derived. For developing an accurate solution approach, generalized differential quadrature method (GDQM) and perturbation approach (PA) are finally employed. Various geometrically parameters are taken into account to investigate the chaotic motion of the viscoelastic disk subject to harmonic excitation. The fundamental and golden results of this paper could be that in the lower value of the external harmonic force, different FG patterns do not have any effects on the motion response of the structure. But, for the higher value of external harmonic force and all FG patterns, the chaos motion could be seen and for the FG-X pattern, the chaosity is more significant than other patterns of the FG. As a practical designing tip, it is recommended to choose plates with lower thickness relative to the outer radius to achieve better vibration performance.

     

Absolute stability of nonlinear systems with two additive time-varying delay components

In this paper, we present a new sufficient condition for absolute stability of Lure system with two additive time-varying delay components. This criterion is expressed as a set of linear matrix inequalities (LMIs), which can be readily tested by using standard numerical software. We use this new criterion to stabilize a class of nonlinear time-delay systems. Some numerical examples are given to illustrate the applicability of the results using standard numerical software.     

On the implementation of adaptive sliding mode robust controller in the stabilization of electrically actuated micro-tunable capacitor

Microsystem Technologies - Parallel-plates based micro-tunable capacitors are known to have low travel ranges, which deteriorate as going even lower in terms of their initials gap sizes. Such...