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Tracking Setpoint Robust Model Predictive Control for Input Saturated and Softened State Constraints
Vu Trieu Minh,Fakhruldin Bin Mohd Hashim 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.5
This paper starts with a brief review of robust model predictive control (RMPC) schemes for uncertain systems using linear matrix inequalities (LMIs) subject to input saturated and softened state constraints. However when RMPC has both input and state constraints, difficulties will arise due to the inability to satisfy the state constraints. In this paper, we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. A brief comparative simulation of the two new RMPC schemes is implemented via examples to demonstrate the ability of the new RMPC schemes.
Time Forward Observer Based Adaptive Controller for a Teleoperation System
Vu Trieu Minh,Fakhruldin Bin Mohd Hashim 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.3
This paper presents a design of a teleoperation system using time forward observer-based adaptive controller. The controller is robust to the time-variant delays and the environmental uncertainties while assuring the stability and the transparent performance. A novel theoretical framework and algorithms for this teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also investi-gated.
Muhammad Yasar Javaid,Mark Ovinis,Fakhruldin B.M. Hashim,Adi Maimun,Yasser M. Ahmed,Barkat Ullah 대한조선학회 2017 International Journal of Naval Architecture and Oc Vol.9 No.4
We are developing a prototype underwater glider for subsea payload delivery. The idea is to use a glider to deliver payloads for subsea installations. In this type of application, the hydrodynamic forces and dynamic stability of the glider is of particular importance, as it has implications on the glider's endurance and operation. In this work, the effect of two different wing forms, rectangular and tapered, on the hydrodynamic characteristics and dynamic stability of the glider were investigated, to determine the optimal wing form. To determine the hydrodynamic characteristics, tow tank resistance tests were carried out using a model fitted alternately with a rectangular wing and tapered wing. Steady-state CFD analysis was conducted using the hydrodynamic coefficients obtained from the tests, to obtain the lift, drag and hydrodynamic derivatives at different angular velocities. The results show that the rectangular wing provides larger lift forces but with a reduced stability envelope. Conversely, the tapered wing exhibits lower lift force but improved dynamic stability.
Javaid, Muhammad Yasar,Ovinis, Mark,Hashim, Fakhruldin B.M.,Maimun, Adi,Ahmed, Yasser M.,Ullah, Barkat The Society of Naval Architects of Korea 2017 International Journal of Naval Architecture and Oc Vol.9 No.4
We are developing a prototype underwater glider for subsea payload delivery. The idea is to use a glider to deliver payloads for subsea installations. In this type of application, the hydrodynamic forces and dynamic stability of the glider is of particular importance, as it has implications on the glider's endurance and operation. In this work, the effect of two different wing forms, rectangular and tapered, on the hydrodynamic characteristics and dynamic stability of the glider were investigated, to determine the optimal wing form. To determine the hydrodynamic characteristics, tow tank resistance tests were carried out using a model fitted alternately with a rectangular wing and tapered wing. Steady-state CFD analysis was conducted using the hydrodynamic coefficients obtained from the tests, to obtain the lift, drag and hydrodynamic derivatives at different angular velocities. The results show that the rectangular wing provides larger lift forces but with a reduced stability envelope. Conversely, the tapered wing exhibits lower lift force but improved dynamic stability.