Good day to you ALL.
The following is the schedule of Seminars TODAY,Wednesday, 24th of December,
OF THE SEMINAR
Fuzzy Adaptive Multi-Robot Formation Controller in Cluster Space
NASIR, MOHAMMAD TAR
2:10 PM - 2:25 PM
H Observer for Networked Control Systems Subject to Communication
AL-YAZIDI, NEZAR MO
2:25 PM - 2:40 PM
Control of Robot Manipulator Modelled in MATLAB SimMechanics with Two
AL-ABSARI, NAJIB MO
2:40 PM - 2:55 PM
Design of Linear-based Controllers for a double-inverted
2:55 PM - 3:10 PM
The following are the abstracts and short Bio of the
Speakers, please :
Fahd University of Petroleum and Minerals
Adaptive Multi-Robot formation controller in cluster space
Cluster space control provides
a simple concept of controlling multirobot formation. The challenge of
designing an adaptive cluster controller is a growing research interest due
to existence of the disturbance and uncertainty in the dynamic models. In
this work an adaptive fuzzy controller for multirobot system is proposed with
the cluster space concept. This approach aims to adapt the controller gain
with respect to the error signal. As a result the performance of the
controller will be optimized. A Simulation and practical results show
potential advantages with fuzzy controller.
Multirobot, Adaptive fuzzy controller,
About the Speaker
: Wednesday, 24 December,
: 2:10 PM - 2:25 PM
Observer for Networked Control Systems Subject to Communication Constraints”
work, we consider the problem of H∞ observer for networked control systems
subject to communication constraints. The measurement time delay, which
occurs when a measurement packet sent from a sensor at plant site to a
controller at the control unit. The actuation time delay, which occurs when a
control packet sent from a controller at the control unit to an actuator at
plant site. The design of the observer is presented in terms of linear matrix
inequalities (LMIs). Sufficient conditions for the existence of H∞ observer
based feedback controller are derived. A differential evolutionary method is
used to find the optimal parameters of LMIs. An illustrative example is
performed to confirm the effectiveness of the proposed design procedure.
Networked control systems, H∞ observer, Differential evolutionary.
: 2:25 PM -
Robot Manipulator Modelled in MATLAB SimMechanics
with Two Control Techniques”
One of the important tasks in
practical manipulators is to control the position of a robot manipulator,
although it is the simplest task in robot control. Many control techniques
have been used to treat this control problem.
PD control with gravity
compensation and Feedback linearization are two well known control methods
that are commonly used to control nonlinear systems such as robot
This study introduces a
method of modeling a two-link planer robotic maupolator by using the toolbox
of SimMechanics in Matlab simulink. The devoloped model has been controlled
by using two de¤ernt control methods: PD-plus-gravity cotrol and feedback
linearization control. The simuletion results show the dynamics of the system
according to each controller and the performances of the different
controllers are compared.
SimMechanics, gravity compensation, Feedback linearization
Mr. Najib M. Al-Absari recieved
his BSc in Mechatronics Engineering from Baghdad University, Iraq 2005.
Currently, he is a student in the Systems Engineering Department at King Fahd
University of Petroleum and Minerals, Dhahran, KSA.
: 2:40 PM - 2:55 PM
LINEAR-BASED CONTROLLERS FOR A DOUBLE-INVERTED PENDULUM (DIPC)”
objective of this paper is to design linear based controllers for a Double
Inverted Pendulum on a Cart (DIPC). The double inverted pendulum on a cart
consists of two pendulums linked together and placed on a sliding cart. The
aim is to maintain the pendulum in the up-up position; therefore the system
is of three degree of freedom.
a state feedback controller would be employed in other to keep the system at
equilibrium. The performance specification of the system would be compared to
that of the linear quadratic regulator controller (LQR). Modeling is based on
Euler-Lagrange equations, and the resulting nonlinear model is linearized.
DIPC, Euler-Lagrange, LQR, Jacobian
Aliyu obtained his Bachelors Degree in Electrical Engineering from Bayero
University Kano. He is currently a full-time Masters Student in
Automation and Control at the System engineering Department.
: 2:55 PM - 3:10 PM
All are cordially invited to attend the said seminars.