Amir Farhad Ehyaei
Imam Khomeini International University
[ 1 ] - Cooperative Control of Multiple Quadrotors for Transporting a Common Payload
This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...
[ 2 ] - Optimal Integral Sliding Mode Controller of a UAV With Considering Actuator Fault
In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller...
[ 3 ] - Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
[ 4 ] - Load Profile Flattening Considering EV’s Initial and Final SoC and Arrival and Departure Times
In distribution networks, failure to smooth the load curve leads to voltage drop and power quality loss. In this regard, electric vehicle batteries can be used to smooth the load curve. However, to persuade vehicle owners to share their vehicle batteries, we must also consider the owners' profits. A challenging problem is that existing methods do not take into account the vehicle owner demands ...
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