Papers by Mohammad Danesh
Journal of Control
In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors... more In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved. At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem. Some coupling terms between the two subsystems are regarded as internal perturbations. Bounded external disturbances are considered in this paper too and are entered to the quadrotors. Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively. For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors. These errors are only associated with external disturbances. Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.
Transportation of an Unknown Cable-Suspended Payload by a Quadrotor in Windy Environment under Aerodynamics Effects
2021 7th International Conference on Control, Instrumentation and Automation (ICCIA), 2021
In this article, the aerial load transportation of an unknown slung payload in a windy environmen... more In this article, the aerial load transportation of an unknown slung payload in a windy environment is investigated. First, a full dynamics of the load and quadrotor is derived through the Euler-Lagrange method where the rotational and transitional drag forces are considered. Then, a robust sliding mode control is designed for the transitional movements to cope with both disturbances such as the wind forces and payload swings, and uncertainties such as the length of the cable and the mass of the load. In addition, the PD control method is presented for the quadrotor attitude control. Finally, numerical results show that the appropriate performance of the controllers during the transporting mission despite disturbances. Moreover, the Dryden wind model is utilized to model the real condition of wind velocity.
For induction motor drives controlled by the indirect rotor flux oriented control (IRFOC), the ro... more For induction motor drives controlled by the indirect rotor flux oriented control (IRFOC), the rotor resistance variation results in an undesirable coupling between the flux and the torque of the machine, and loss of dynamic performance. This paper presents a scheme for the estimation of rotor resistance using a neural networks (NN) block. In this system the flux and torque have been estimated by using stator voltages and currents. A back-propagation NN receives the flux and torque errors and a supposed rotor resistance at the input and estimates the actual rotor resistance at the output, which is used in the control of an indirect vector-controlled drive system. The neural network has been trained off line with the mathematical model of the control scheme in detuning operations. IRFOC control, used with the NN estimator, has been studied in the detuning condition. The performance of the controller is good, even when the rotor time constant is increased from nominal rate to twice the nominal value, as well as torque variations. In this method, estimation is done quickly and accurately, and its design is simple. Simulation results for a 3-hp induction motor driven by a current-regulated pulse width modulation CRPWM inverter with an indirect vector controller are presented to validate the effectiveness of the proposed technique for the purpose of improving the performance and robustness of the drive.
Fuzzy control allocation of a positionable rotor quadrotor based on log‐barrier optimization and propulsion system fault toleration
IET control theory & applications, Apr 21, 2024
Formation Control and Path Tracking for a Group of Quadrotors to Carry Out a Suspended Load
Modares Mechanical Engineering, Apr 10, 2019
Active Optimal Roll Control of Railway Vehicles in Curved Tracks Using an Electrically Actuated Anti-roll Bar System
International Journal of Control Automation and Systems, Mar 16, 2023
Dynamic analysis and path planning for a redundant actuated biped robot
ABSTRACT In some applications, biped robots are preferred to wheeled robots since biped robots ar... more ABSTRACT In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue. Various approaches have been developed to improve these robots performance. In this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism and then compare it with conventional design of robots. Then we formulate dynamic equations of this biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by experimental results.
arXiv (Cornell University), May 16, 2023
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary nu... more In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory. In the dynamical model of this transportation system, not only the load is considered as a nonuniform and non-homogeneous rigid body but also mass, flexibility, and tension of the cables are considered. Each cable is modeled as successive masses, springs, and dampers where each mass, spring, and damper has 4 degrees of freedom (DOF). The Euler-Lagrange equations are used to derive the motion equation. The control strategy includes three loops of attitude control, formation control, and navigation control. The sliding mode control is designed based on multi-agent systems for the formation control where the controller is proven to be asymptotically stable. The navigation control loop, based on the load states, guarantees that the load reaches the desired location. Finally, numerical examples and simulations are presented to verify the appropriate operation of the proposed system for transporting both homogeneous and non-homogeneous bodies by spreading quadrotors according to mass distribution of the body.
Detection of Broken Bars in Induction Motors, Using Neural Network
International Conference on Performance Engineering, Oct 1, 2004
Transactions of the Institute of Measurement and Control, Oct 6, 2019
This paper studies the problem of robust containment with trivial sensitivity to both initial con... more This paper studies the problem of robust containment with trivial sensitivity to both initial conditions and communication topology for multi-agent systems. In this way, based on the homogeneity property of the dynamic systems, a new nonlinear high order sliding surface for containment problem is proposed. This sliding surface has a fast finite time dynamics which causes remarkably reduction of containment sensitivity to the multi-agent initial conditions and communication topology. Accordingly, a high order fast finite time containment control (HOFFT-CC) protocol is established and the containment of multiple agents to a convex hull is realized. The proposed framework solves the fast containment problem for high order dynamics that are subjected to the external disturbance and furthermore, for both directed and undirected graph topology. Moreover, because of decoupling the agents' dynamics and converting the multi-agent problem to some single agent problems, the structure of the proposed method is simpler and more straightforward in comparison with previous works. The finite time stability of the closed loop multi-agent systems based on the homogeneity theory and Lyapunov theorem, is analyzed and proved. The proof is produced throughout the negative degree homogeneity property of the closed loop dynamics along with asymptotical stability. In addition, simulation for a general third order multi-agent system in a two-dimensional space is accomplished and the results demonstrate the trivial sensitivity of containment to both initial conditions and communication topology.
Optimal path tracking of a quadrotor in the presence of obstacle using the League Championship Algorithm
Nowadays, cost reduction and optimization has attracted attention of researchers and scientists i... more Nowadays, cost reduction and optimization has attracted attention of researchers and scientists in many fields. Optimal path tracking for vehicles, which reduces fuel consumption, as well as the distance traversed by the vehicle, has mostly caught attention. Besides, Unmanned Arial Vehicles are in the spotlight because of their great performance in doing a vast majority of jobs, especially those which are perilous for human. One of the most prevailing issues in this field is optimal path tracking. Although different algorithms are presented and despite their acceptable performance, none of them has focused on reducing energy and distance. In this paper a new optimization algorithm is utilized for the latter optimizations. This algorithm is called the Championship Algorithm by its Iranian developer. Combining it with the path tracking problem of the unmanned aerial vehicles, it is shown that its performance is much better than one of the most important existing algorithms (GA). Optimal trajectory tracking problem is also solved to reduce fuel and energy consumption.
Applied Acoustics, Dec 1, 2016
A new approach is proposed in this paper based on radiation modes to control the radiated sound p... more A new approach is proposed in this paper based on radiation modes to control the radiated sound pressure of a smart cylindrical shell equipped with piezoelectric sensor and actuators. The radiation modes determine the specific distribution of normal velocity of the shell that independently radiates sound to the surrounding space. In this study, the first radiation mode is controlled since it is the most effective mode in terms of the radiated power. The results indicate that most of the sound power is attenuated by controlling only this mode. The extended Hamilton's principle, the Sanders shell theory and the assumed mode method are used to derive the equations of motion in a state space form that is suitable to design the controller. The radiated sound pressure is calculated using the simplified Kirchhoff-Helmholtz integral along with a Kalman filter to observe the system states, and a modified higher harmonic control (MHHC) is designed to attenuate the sound power. A numerical simulation demonstrated the effectiveness of the proposed approach compared to active vibration control (AVC) in attenuating the radiated sound in the low frequency domain.
Auto-landing algorithm for quadrotor UAV using super-twisting second-order sliding mode control in the presence of external disturbances
International Journal of Dynamics and Control, Mar 27, 2023
Implementation of parallel parking system on a car like mobile robot
This paper presents a new parallel parking control system based on a sliding mode control. Two ti... more This paper presents a new parallel parking control system based on a sliding mode control. Two timing laws have been designed to achieve the zero velocity of the vehicle at the initial and final points of parallel parking path. A car like mobile robot has been designed to implement the proposed controller. Simulation and implementation results of this approach, illustrate the effectiveness of proposed control system.
Application of observer-based sliding mode controller in dynamic positioning systems
In dynamic positioning, the governing equations of vessel motion are uncertain. These uncertainti... more In dynamic positioning, the governing equations of vessel motion are uncertain. These uncertainties are due to unknown environmental disturbances and hydrodynamic coefficients in equations of vessel motion. In previous works concerning uncertainties, it is assumed that the vessel states are fully available and that the position signals are noise free. This paper presents the design of a robust DP system composed of a notch filter, a passive nonlinear observer and a sliding mode control algorithm to remove the assumptions made in previous works. The measured values of position and heading are first filtered by the notch filter, then, the velocity and bias terms are estimated by the observer using the filtered signal. Then they are used in a sliding mode control law for position keeping of the vessel. The simulation results approve of the capability of the proposed control system to deal with uncertainties. dynamic positioning, nonlinear passive observer, notch filter, robust DP system, sliding mode control, uncertainty.
Finite element analysis of proportional solenoid characteristics in hydraulic valves
International Journal of Automotive Technology, Jul 28, 2012
ABSTRACT
Positionable Rotor Quadrotor: Dynamic Modeling and Adaptive Finite-Time Sliding-Mode Controller Design
Journal of Guidance Control and Dynamics, Nov 15, 2021
Journal of Advanced Materials in Engineering (Esteghlal), Jul 10, 2006
This paper presents a method based on neural networks to detect broken rotor bars and end rings i... more This paper presents a method based on neural networks to detect broken rotor bars and end rings in squirrel cage induction motors. In the first part, detection methods are reviewed and traditional methods of fault detection as well as dynamic * ' ** ' (/ *** ' 0 1 23) **** ' 4 5 6 0
Journal of Power Electronics, Jul 1, 2006
This paper presents a method based on neural networks to detect the broken rotor bars and end rin... more This paper presents a method based on neural networks to detect the broken rotor bars and end rings of squirrel cage induction motors. At first, detection methods are studied, and then traditional methods of fault detection and dynamic models of induction motors by using winding function model are introduced. In this method, all of the stator slots and rotor bars are considered, thus the performance of the motor in healthy situations or breakage in each part can be checked. The frequency spectrum of current signals is derived by using Fourier transformation and is analyzed in different conditions. In continuation, an analytical discussion and a simple algorithm are presented to detect the fault. This algorithm is based on neural networks. The neural network has been trained by using information of a 1.1 KW induction motor. This system has been tested with a different amount of load torque, and it is capable of working on-line and of recognizing all normal and ill conditions.
A Distributed Composite Formation Control Approach for a Multi-quadrotor System
Iranian Journal of Science and Technology, Transactions of Electrical Engineering
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Papers by Mohammad Danesh