Print ISSN: 1811-9212

Online ISSN: 2617-3352

Keywords : time


Optimal Controller Design for Dynamic Systems with Perturbed Time-Varying Delay

Dr. Asmaa Q. Shareif; Dr. Abdulsalam H. Nafia

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2012, Volume 12, Issue 2, Pages 81-89

Abstract:
In this paper, a controller design is proposed to control systems subjected to uncertainties and perturbed time-varying delay. The proposed controller strategy is composed of three parts, the linear state feedback part is used for assigning the closed loop eigenvalues, and the nonlinear switching part of the sliding mode and the adaptive part are used to achieve the robustness of global stability. By using the stability theorem, the adaptive law is utilized for adapting the unknown bounds of the lumped perturbations so that the objective of asymptotical stability is achieved, and then to use the variable structure control method to enhance the robustness of stability of the controlled systems. Once the system goes inside of the sliding surface of the variable structure controller, the dynamics of the controlled systems are insensitive to effect of perturbations. The system and controller are simulated by using Matlab/Simulink. Finally, a real numerical example is given to demonstrate the feasibility of the proposed controller.

THE USE OF VIRTUAL REALITY TO DEMONSTRATE TRAJECTORY PLANNING AND CONTROL OF A 3-DOF UNDERACTUATED ROBOT IN A HORIZONTAL PLANE IN REAL-TIME1

Prof. Dr. Waladin K. Sa; Mohammed Y. Algailany

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2011, Volume 11, Issue 2, Pages 7-19

Abstract:
Real-Time 3D animation and Real-Time Simulation results are reported for a 3R underactuated robot moving in a horizontal plane using Virtual Reality Toolbox™, Real-Time Windows Target™,Real-Time Workshop®, and interfaced to Simulink® under the MATLAB® environment. The reason behind Real-time 3D animation and Real-Time simulation is to provide animated real-time tools in a realistic fashion to demonstrate the effectiveness of the controllers in tracking the desired trajectory and to provide a tool for researchers to test their proposed controllers and observe their behavior using 3-DOF underactuated manipulator in real-time.