This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

This paper presents a simulation-based study of the performance achievable by a continuously variable electro-hydraulic semi-active suspension system. By applying state-of-the-art dynamic optimization techniques, a direct optimal controller is developed for a nonlinear quarter car model that includes an identified semi-physical damper model. The direct optimal control approach offers an intuiti...

In this study, a fuzzy rule-based optimal controller is designed for nonlinear dynamical systems. The direct second order method (or directdescend-curvature algorithm) with a modification called “modified descend controller (MDC)” is used for calculating the parameters of the fuzzy feedback controller. The optimal control problem defined here has dynamic constraints of nonlinear system states a...

A deterministic optimal control problem is solved for a control-affine nonlin-ear system with a nonquadratic cost function. We algebraically solve the Hamilton-Jacobi equation for the gradient of the value function. This eliminates the need to explicitly solve the solution of a Hamilton-Jacobi partial differential equation. We interpret the value function in terms of the control Lyapunov functi...

An optimal Fractional Order PI λ D μ (FOPID) controller is designed for a full vehicle nonlinear active suspension system. The optimal values of FOPID controller parameters for minimizing the cost function are tuned using an Evolutionary Algorithm (EA), which offers an optimal solution to a multidimensional rough objective function. The fitness parameters of FOPID controller (proportional const...

Increasing of word demand load caused a new Distributed Generation (DG) to enter to powersystem. One of the most renewable energy is the Photovoltaic System. It is beneficial to use thissystem in both separately as well as connected to power system using power electronics interface.In this paper an optimal PID controller for Photovoltaic System systems has been developed. Theoptimization techni...

A recently suggested general anti-windup (AW) compensation scheme is applied to the nonlinear simulation model of the 1 16 scaled BAe Hawk aircraft model used for wind tunnel experiments. The Hawk is modelled as a nonlinear affine system subject to input constraints and has a primary control system consisting of an inner-loop nonlinear dynamic inversion controller and an outer-loop linear PID c...

In this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the cheap control problem. This methodology employs an algebraic equation with parametric coefficients for the systems with s...

A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the optimal predictive controller is given, on-...