this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

background: iran is one of the countries that has ratified the world health organization framework convention of tobacco control (who-fctc), and has implemented a series of tobacco control interventions including the comprehensive tobacco control law. enforcement of this legislation and assessment of its outcome requires a dedicated evaluation system. this study aimed to develop a generic model...

this paper presents a simple model predictive control (mpc) approach to control the power injection system (pis) for renewable energy applications. a dc voltage source and a single-phase inverter that is connected to the grid by an lcl filter form the pis. grid voltage is considered a disturbance for the system. for eliminating this disturbance, a modified model is proposed. it is usual to cont...

this research was conducted in order to evaluate fatigue behavior of asphalt mixes containing electric arc furnace (eaf) steel slag. after initial evaluation of the properties of eaf steel slag using x-ray diffraction (xrd) and scanning electric microscope (sem), six sets of laboratory mixtures were prepared. each set were treated replacing various portions of limestone aggregates of the mix wi...

grade control structures are hydraulic structures used to stabilize a river bed. scour downstream of this structure is the main cause of its failure. studies have developed numerous empirical relations for scour depth prediction that designers must choose between to decide the most effective equation for a specific application. this study tested the condition of submerged jets over beds of sedi...

laguerre function has many advantages such as good approximation capability for different systems, low computational complexity and the facility of on-line parameter identification. therefore, it is widely adopted for complex industrial process control. in this work, laguerre function based adaptive model predictive control algorithm (ampc) was implemented to control continuous stirred tank rea...

a study was carried out to map dispersal of trichogramma brassicae bezd. on tomato in a 0.5 ha field. first, 1, 5, 10, 15, 20 and 25 meter distances from the central point of the field were marked in form of squares. on each square, 8 points were selected and a wooden stake of 1.5 m length was vertically secured into the soil at each point equal to plant height and bearing a yellow sticky trap ...