This paper proposes a design for a mesoscale capsule robot which can be used in gaining diagnostic data and delivering medical treatment in inaccessible parts of the human body. A novel approach is presented for the capsule robot control: A PID-controlled closed-loop approach. A modified chaotic genetic algorithm will be used to optimize the coefficients of PID controller. Then, simulation will...

In this paper, a state feedback H¥ controller is proposed in order to design an active queue management (AQM) system based on congestion control algorithm for networks supporting TCP protocols. In this approach, the available link bandwidth is modeled as a time-variant disturbance. The purpose of this paper is to design a controller which is capable of achieving the queue size and can guarantee...

this paper considers the problem of stable limit cycles generating in a class of uncertain nonlinear systems which leads to stable oscillations in the system’s output.this is a wanted behavior in many practical engineering problems. for this purpose, first the equation of the desirable limit cycle is achieved according to shape, amplitude and frequency of the required output oscillations. then,...

As a very serious problem for control systems, actuator saturation often leads to an unstable system. The maneuvering flight of quadrotors may lead saturation, which commonly affects the quality, including trajectory-tracking accuracy. Quadrotors usually adopt double-closed-loop control, outer loop is position used calculate desired attitude angle and inner generate actions vehicle. To address ...

This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...

Boost converters have nonminimum phase (NMP) characteristics, which makes the stable closed-loop control design difficult. Based on passive theory, this article proposes to add a feedforward loop in conventional double-loop closed compensate for NMP effect. Therefore, potential instability caused by can be avoided. Such compensation is especially useful dc microgrid applications where boost are...

The gimbal stabilization mechanism is used to provide the stability to an object mounted on the gimbal by isolating it from the base angular motion and vibration. The purpose of this paper is to present a model of control servo system for one axis gimbal mechanism using a cascade PID controller. The gimbal torque relationships are derived by taking into consideration the base angular motion. Th...

Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system ship autopilot is presented. Uniformity the design follows from observation each controlled plant looks like an integrator with time constant. In case controller, represented by known Nomoto model. Due elimination constant closed loop systems becomes 2nd order. One assume...

paper deals with accurate positioning of pneumatic actuator using solenoid controller to development a fast, accurate, and inexpensive position-controlled that may be applied to a variety of practical positioning applications are described. A Pulse Width Modulation PWM valve pulsing algorithm to allow the on/off solenoid valves to use in the place of costly servo valve. The open-loop characteri...