News Details

Seminars by Graduate Students, 24 Dec 2014


Dear ALL,

 

Good day to you ALL.

 

The following is the schedule of Seminars TODAY,Wednesday, 24th of December, 2014 :

 

TITLE OF THE SEMINAR

SPEAKER

DATE

TIME

LOCATION

Fuzzy Adaptive Multi-Robot Formation Controller in Cluster Space

NASIR, MOHAMMAD TAR

24-Dec-14

2:10 PM - 2:25 PM

22-132

H Observer for Networked Control Systems Subject to Communication Constraints

AL-YAZIDI, NEZAR MO

24-Dec-14

2:25 PM - 2:40 PM

22-132

Control of Robot Manipulator Modelled in MATLAB SimMechanics with Two Control Techniques

AL-ABSARI, NAJIB MO

24-Dec-14

2:40 PM - 2:55 PM

22-132

Design of Linear-based Controllers for  a double-inverted pendulum (DIPC)

ALIYU, ABDULRAHMAN

24-Dec-14

2:55 PM - 3:10 PM

22-132

 

 

 

 

The following are the abstracts and short Bio of the Speakers, please :

 

 

 

 

Systems Engineering Department

Seminar

 

By

 

Mohammad Tariq Nasir

King Fahd University of Petroleum and Minerals

 

 

Title: “Fuzzy Adaptive Multi-Robot formation controller in cluster space

                                                         ”

Abstract

 

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.

 Key Words:  Multirobot, Adaptive fuzzy controller,

 

 




About the Speaker

 (About the Speaker)

       

Date          :      Wednesday, 24 December, 2014

Time         :      2:10 PM - 2:25 PM

Venue       :      22-132

 

 

 

 

Systems Engineering Department

Seminar

 

By

 

Nezar Mohammed Alyazidi

King Fahd University of Petroleum and Minerals

 

 

Title: “H∞ Observer for Networked Control Systems Subject to Communication Constraints

Abstract

 

In this 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.

Key Words:  Networked control systems, H∞ observer, Differential evolutionary.

 

 

 

 




About the Speaker

 (About the Speaker)

     

Date          :      Wednesday, 24 December, 2014

Time         :      2:25 PM - 2:40 PM

Venue       :      22-132

 

 

 

Systems Engineering Department

Seminar

 

By

 

Najib M. Al-Absari

King Fahd University of Petroleum and Minerals

 

 

Title: “Control of Robot Manipulator Modelled in MATLAB     SimMechanics with Two Control Techniques

Abstract

 

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 manipulators.

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.

Key Words:  SimMechanics, gravity compensation,  Feedback linearization

  

 

 




About the Speaker

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.

      

Date          :      Wednesday, 24 December, 2014

Time         :      2:40 PM - 2:55 PM

Venue       :      22-132

 

 

 

 

Systems Engineering Department

Seminar

 

By

 

Abdulrahman Aliyu

King Fahd University of Petroleum and Minerals

 

 

Title: “DESIGN OF LINEAR-BASED CONTROLLERS FOR A DOUBLE-INVERTED PENDULUM (DIPC)

Abstract

 

The 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.

Design of 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.

Key Words:  DIPC, Euler-Lagrange, LQR, Jacobian

 

 




About the Speaker

Abdulrahman 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.

Date          :      Wednesday, 24 December, 2014

Time         :      2:55 PM - 3:10 PM  

Venue       :      22-132

 

All are cordially invited to attend the said seminars.

 


2015-01-30T21:00:00Z