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New Sliding Mode Control of 2-DOF Robot Manipulator Based on Extended Grey Wolf Optimizer
Mehran Rahmani,Hossein Komijani,Mohammad Habibur Rahman 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
This paper presents a novel sliding mode (NSMC) to control of a 2-DOF robot manipulator based on the extended grey wolf optimizer (EGWO). The PD control approach is not robust against external disturbances compared to the sliding mode control (SMC) method, but SMC is noticeably robust against uncertainties and external disturbances. By using both PD and SMC, a novel control approach is proposed to remove each of the controller’s disadvantages. In this paper, the grey wolf optimizer (GWO) is extended to EGWO algorithm by adding the emphasis coefficients. The GWO, and EGWO then are applied to optimize the proposed control parameters (NSMC-EGWO) which result the optimized NSMC-GWO, and NSMC-EGWO respectively. The stability of the NSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with two other controllers such as SMC and proportional derivative sliding mode control (PDSMC). Numerical simulations completely verified the effectiveness of the proposed control approach.
B→Dℓνform factors at nonzero recoil and|Vcb|from2+1-flavor lattice QCD
Bailey, Jon A.,Bazavov, A.,Bernard, C.,Bouchard, C. M.,DeTar, C.,Du, Daping,El-Khadra, A. X.,Foley, J.,Freeland, E. D.,Gá,miz, E.,Gottlieb, Steven,Heller, U. M.,Komijani, J.,Kronfeld, A. S.,Laih American Physical Society 2015 PHYSICAL REVIEW D - Vol.92 No.3
|Vub|fromB→πℓνdecays and (2+1)-flavor lattice QCD
Bailey, Jon. A.,Bazavov, A.,Bernard, C.,Bouchard, C. M.,DeTar, C.,Du, D.,El-Khadra, A. X.,Foley, J.,Freeland, E. D.,Gá,miz, E.,Gottlieb, Steven,Heller, U. M.,Komijani, J.,Kronfeld, A. S.,Laiho, American Physical Society 2015 PHYSICAL REVIEW D - Vol.92 No.1
B→Kl+l−decay form factors from three-flavor lattice QCD
Bailey, Jon A.,Bazavov, A.,Bernard, C.,Bouchard, C. M.,DeTar, C.,Du, Daping,El-Khadra, A. X.,Foley, J.,Freeland, E. D.,Gá,miz, E.,Gottlieb, Steven,Heller, U. M.,Jain, R. D.,Komijani, J.,Kronfeld American Physical Society 2016 Physical Review D Vol.93 No.2
<P>We compute the form factors for the B --> Kl(+)l(-) semileptonic decay process in lattice QCD using gauge-field ensembles with 2 + 1 flavors of sea quark, generated by the MILC Collaboration. The ensembles span lattice spacings from 0.12 to 0.045 fm and have multiple sea-quark masses to help control the chiral extrapolation. The asqtad improved staggered action is used for the light valence and sea quarks, and the clover action with the Fermilab interpretation is used for the heavy b quark. We present results for the form factors f(+)(q(2)), f(0)(q2), and f(T)(q2), where q(2) is the momentum transfer, together with a comprehensive examination of systematic errors. Lattice QCD determines the form factors for a limited range of q(2), and we use the model-independent z expansion to cover the whole kinematically allowed range. We present our final form-factor results as coefficients of the z expansion and the correlations between them, where the errors on the coefficients include statistical and all systematic uncertainties. We use this complete description of the form factors to test QCD predictions of the form factors at high and low q(2).</P>