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- 저자 : Iraj Hasanzadeh (검색결과 2 건)
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A Predictive Controller Based on Dynamic Matrix Control for a Non-minimum Phase Robot Manipulator
Mohammad Ali Badamchizadeh,Shima Eshaghi,Hamed Kharrati,Iraj Hasanzadeh 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.3
In this paper a hybrid control strategy is presented based on Dynamic Matrix Control (DMC) and feedback linearization methods for designing a predictive controller of five bar linkage manipulator as a MIMO system (two inputs and two outputs). Analyzing the internal dynamic of robot shows the open loop system is unstable and non-minimum phase, so in order to apply the predictive controller, special modifications are needed. These modifications on non-minimum phase behavior are performed using feedback linearization procedure based on state space realization. The design objec-tive is to track a desirable set point as well as time varying trajectories as a command references with globally asymptotical stabilization. The proposed controller is applied to nonlinear fully coupled model of the typical five bar linkage manipulator with non-minimum phase behavior. Simulation results show that the proposed controller has good efficiency. The step responses of system with and without feedback linearization process illustrated that the mentioned modification for stabilizing is performed properly. After applying the proposed predictive controller, the joint angle of robot tracks the reference input while another input acts as the disturbance and vice versa.
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Isa Karimzadeh,Mohammad Sabzi,Behrouz Safibonab,Iraj Hasanzadeh,Mojtaba Farhangmehr,Ali Arman 한국고분자학회 2017 폴리머 Vol.41 No.1
This study aimed to investigate the effect of organoclay concentration variation (1-5 wt%) on the weathering resistance of epoxy resin in terms of the strength, modulus and weight changes of the specimens after exposure to accelerated weathering conditions. Transmission electron microscopy (TEM) revealed an exfoliated and good dispersed nanofiller structure throughout the matrix up to 3 wt% loading. The tensile strength, modulus, and weight of the samples decreased after combined UV radiation and condensation, with much less extent for the nanocomposites than neat epoxy indicating that the presence of organoclay led to dominant enhancement in mechanical properties endurance of epoxy resin to environmental degradation. Nanocomposites also displayed much lower weight loss as compared to the unfilled epoxy after being subjected to the accelerated weathering by either temperature-humidity or by combined UV radiation and condensation.
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