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RISS 인기검색어
- 검색키워드
- 저자 : Muwahida Liaquat (검색결과 3 건)
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Muwahida Liaquat,Muhammad Azeem Javaid,Muhammad Saad 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents the design of an output feedback controller (OFBC) for an n-link robot manipulator. This is achieved by using non-linear high gain observer. As measurement noise poses a great difficulty while estimating the system states, as the gain of the observer increases the measurement noise significantly amplified, causing higher steady state error. A non-linear high gain observer is proposed to overcome this problem. Non-linear high gain observer has an advantage over other non-linear state estimating techniques. The estimation of states is achieved with great accuracy and in a very small time. A comparison of linear and non linear high gain observer is also included to show the effectiveness of the proposed scheme.
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Leader-Following Formation Control of Nonholonomic Robots with Switching Network Topologies
Arslan Safdar,Muwahida Liaquat,Waqar Ali,Faiza Nawaz 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper investigates cooperative output regulation for the leader-following formation problem of multirobot system. For leader-following formation (LFF) problem a distributed design approach is proposed using luenberger observer and distributed observer. The designed approach enables the robots to track the reference signal generated by the leader and also to achieve and maintain the desired formation for any initial condition. The considered exogenous system serves as a leader for the multi-robot formation and provides a driving forces for the robot formation. The dynamics of the exogenous system are different among the robots. In view of time varying interaction between robots, one case of fixed network topology and two cases of switching network topologies are considered to describe the multirobot network relationship. The theoretical results are verified through numerical simulations of four nonholonomic robots. The simulation highlights that the robots are maintaining their formation and also tracking the trajectory of the leader robot under fixed and switching topologies of the network.
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Scenario Based Robust Control Design for Uninterruptible Power Supplies
Aisha Qamar,Asad Ullah Awan,Kunwar Fraz Ahmed Khan,Muwahida Liaquat 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
The paper presents the designing of a robust control scheme for uninterruptible power supplies (UPS) by implementing scenario based approach which is a probabilistic solution framework to synthesize and analyze the problems that can be expressed in the form of minimization of a linear objective subject to convex constraints parameterized by uncertainty terms. The scenario based problem being a standard convex optimization problem possesses the solution which is approximately feasible for the infinite set of constraints and is obtained by appropriate sampling of uncertain constraints. The load variation of UPS affects the output voltage and hence is considered as a linear uncertain parameter with a known range in the dynamic model of UPS. An LPV H-infinity optimization problem is formulated in the presence of load variations maintaining the output voltage to the desired value. To design the control problem guaranteeing an a-priori particular probabilistic robustness we use the scenario based approach by randomly selecting the finite number of uncertain scenarios for the load variations instead of using conventional ploytopic approach which covers and comments on the entire uncertainty set for UPS and the solution of scenario problem is computed efficiently by solving the optimization problem using linear matrix inequalities (LMIs). Numerical simulations and comparisons with LPV H-infinity and with linear PID control design shows the proposed scheme makes the system more robust towards uncertainties as well as exogenous disturbances to make it stable and improving its THD and transient performance.
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