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See detailRobust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with Unknown Backlash- Like Hysteresis
Jasim, Ibrahim UL

in 2011 IEEE International Conference on Control System, Computing and Engineering (2011, November)

This paper presents a controller and observer design for a class of nonlinear systems that have: i. the coupling of the unmeasured states and unknown parameters ii. unknown Backlash- Like Hysteresis (BLH ... [more ▼]

This paper presents a controller and observer design for a class of nonlinear systems that have: i. the coupling of the unmeasured states and unknown parameters ii. unknown Backlash- Like Hysteresis (BLH) at its actuation. Firstly, we use a developed mathematical model of the BLH in which the BLH is cast into two terms; a linear term and a bound. Then a robust adaptive control law, unmeasured states observer, and unknown parameters estimator are designed such that global stability is achieved for all signals involved. Using the suggested scheme, simulation is carried out for a single- link mechanical system with a BLH exist at its actuation and dynamic friction torque exerts on the joint. Excellent tracking performance is obtained through the suggested approach and all closed loop signals are bounded. [less ▲]

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See detailRobust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with Unknown Backlash-Like Hysteresis
Jasim, Ibrahim UL

in 2011 IEEE International Conference on Control System, Computing and Engineering (2011, November)

This paper presents a controller and observer design for a class of nonlinear systems that have: i. the coupling of the unmeasured states and unknown parameters ii. unknown Backlash- Like Hysteresis (BLH ... [more ▼]

This paper presents a controller and observer design for a class of nonlinear systems that have: i. the coupling of the unmeasured states and unknown parameters ii. unknown Backlash- Like Hysteresis (BLH) at its actuation. Firstly, we use a developed mathematical model of the BLH in which the BLH is cast into two terms; a linear term and a bound. Then a robust adaptive control law, unmeasured states observer, and unknown parameters estimator are designed such that global stability is achieved for all signals involved. Using the suggested scheme, simulation is carried on for a single- link mechanical system with a BLH exist at its actuation and dynamic friction torque exerts on the joint. We will see that excellent tracking performance is obtained and all closed loop signals are bounded. [less ▲]

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See detailRobust Control Design for Spacecraft Attitude Systems with Unknown Dead Zone
Jasim, Ibrahim UL; Jasim, Najah

in 2011 IEEE International Conference on Control System, Computing and Engineering (2011, November)

In this paper, we consider the challenge of controlling inherently complicated nonlinear systems accompanied by input's hard nonlinearities characterized by unknown parameters. This challenge is addressed ... [more ▼]

In this paper, we consider the challenge of controlling inherently complicated nonlinear systems accompanied by input's hard nonlinearities characterized by unknown parameters. This challenge is addressed in this paper by considering the problem of controlling the attitude of a spacecraft when unknown dead zones exist at the actuators. The spacecraft's dynamics is described by the exact form of Euler's equations of motion, allowing for the case of large angle of rotations to be considered. We propose a control scheme that ensures the spacecraft's attitude to track time-varying maneuvers with an exponential tracking error convergence and robustness to actuator dead zones uncertainties. Numerical simulation results along with the theoretical proof show that the proposed control scheme can successfully stabilize the attitude of the spacecraft and achieve the desired tracking performance. [less ▲]

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See detailDecentralized Robust Indirect Adaptive Fuzzy Control for a Class of Nonlinear Interconnected Systems
Jasim, Ibrahim UL

in 2011 International Conference on Computer Control and Automation (ICCCA 2011) (2011, May)

The problem of controlling a large scale uncertain nonlinear system consisting of interconnected subsystems is addressed. The interconnections between different subsystems are assumed to be bounded. Fuzzy ... [more ▼]

The problem of controlling a large scale uncertain nonlinear system consisting of interconnected subsystems is addressed. The interconnections between different subsystems are assumed to be bounded. Fuzzy logic systems are used to approximate the unknown dynamics of different subsystems. Then, robust indirect adaptive fuzzy decentralized controllers are derived. Moreover, the uncertainty bounds resulted from approximation are tuned adaptively so that global system stability is guaranteed and all closed loop signals are assured to be bounded. [less ▲]

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See detailAdaptive Sliding Mode Control Design for a Class of Nonlinear Systems with Unknown Dead Zone of Unknown Bounds
Jasim, Ibrahim UL; Jasim, Najah

in Abstract book of 1st International Conference on Energy, Power, and Control (2010, December)

The control problem for a class of nonlinear systems that contain the coupling of unmeasured states and unknown parameters is addressed. The system actuation is assumed to suffer from unknown dead zone ... [more ▼]

The control problem for a class of nonlinear systems that contain the coupling of unmeasured states and unknown parameters is addressed. The system actuation is assumed to suffer from unknown dead zone nonlinearity. The parameters bounds of the unknown dead zone to be considered are unknown. Adaptive sliding mode controller, unmeasured states observer, and unknown parameters estimators are suggested such that global stability is achieved. Simulation for a single link mechanical system with unknown dead zone and friction torque is implemented for proving the efficacy of the suggested scheme. [less ▲]

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See detailStable Robust Adaptive Control of Induction Motors with Unknown Parameters
Jasim, Ibrahim UL

in Abstract book of 1st International Conference on Energy, Power, and Control (2010, November)

This paper presents a new strategy for controlling induction motors with unknown parameters. Using a simple linearized model of induction motors, we design robust adaptive controllers and unknown ... [more ▼]

This paper presents a new strategy for controlling induction motors with unknown parameters. Using a simple linearized model of induction motors, we design robust adaptive controllers and unknown parameters update laws. The control design and parameters estimators are proved to have global stable performance against sudden load variations. All closed loop signals are guaranteed to be bounded. Simulations are performed to show the efficacy of the suggested scheme. [less ▲]

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See detailStable Robust Adaptive Control of a Robotic Manipulator with Unknown Dead Zone and Friction Torques
Jasim, Ibrahim UL; Jasim, Najah

in World Academy of Science, Engineering and Technology (2010)

The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities ... [more ▼]

The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appear to be part of the overall system dynamics that need for estimation. Unmeasured states observer, unknown parameters estimators, and robust adaptive control laws have been derived such that closed loop global stability is achieved. Simulation results have been performed to show the efficacy of the suggested approach. [less ▲]

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See detailFuzzy Neural Design of Power Systems Stabilizers
Jasim, Ibrahim UL

in Journal of Kerbala University (2010), 8(1), 333-345

This paper presents a new approach of designing the Power Systems Stabilizer (PSS) that is based on fuzzy neural system. Adaptive Network based Fuzzy Inference System (ANFIS) is utilized in constructing ... [more ▼]

This paper presents a new approach of designing the Power Systems Stabilizer (PSS) that is based on fuzzy neural system. Adaptive Network based Fuzzy Inference System (ANFIS) is utilized in constructing the Fuzzy Neural Power Systems Stabilizer (FNPSS). The employment of ANFIS enables the system avoiding defects caused when using fuzzy logic and neural networks individually in designing an efficient PSS. Single Machine Infinite Bus (SMIB) power system has been taken as a case study to evaluate the suggested strategy performance. Simulation results have been conducted to confirm the approach validity. [less ▲]

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See detailStable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear Systems with Unknown Dead Zone
Jasim, Ibrahim UL

in 2009 International Conference on Control and Automation (2009, November)

This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. coupling of unmeasured states and unknown parameters ii. unknown dead zone ... [more ▼]

This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. coupling of unmeasured states and unknown parameters ii. unknown dead zone at the system actuator. The system is firstly cast into a modified form in which the observer and parameter estimation become feasible. Then a stable robust adaptive controller, state observer, parameter update laws are derived that would provide global adaptive system stability and desirable performance. To validate the approach, simulation was performed to a single-link mechanical system with a dynamic friction model and unknown dead zone exists at the system actuation. Then a comparison is presented with the results when there is no dead zone at the system actuation. [less ▲]

Detailed reference viewed: 58 (3 UL)