Wyniki wyszukiwania - BazTech

Ograniczanie wyników

2 Applied Computer Science

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Sortuj według:

Ogranicz wyniki do:

Optimal sliding mode controller design based on whale optimization algorithm for lower limb rehabilitation robot

Sabah Noor, Hameed Ekhlas, Al-Huseiny Muayed S

Applied Computer Science

2021

Vol. 17, no 3

47--59

The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of its values need to be determined precisely. In this paper, an Optimal Sliding Mode Controller (OSMC) is suggested based on Whale Optimization Algorithm (WOA) to control a two-link lower limb rehabilitation robot. This controller has two parts, the equivalent part, and the supervisory controller part. The stability assurance of the controlled rehabilitation robot is analyzed based on Lyapunov stability. The WO algorithm is used to determine optimal parameters for the suggested SMC. Simulation results of two tested trajectories (linear step signal and nonlinear sine signal) demonstrate the effectiveness of the suggested OSMC with fast response, very small overshoot, and minimum steady-state error.

Controlling the mean arterial pressure by modified model reference adaptive controller based on two optimization algorithms

Haamed Rawaa, Hameed Ekhlas

Applied Computer Science

2020

Vol. 16, no 2

53--67

This paper Presents Modified Model Reference Adaptive Controller (MRAC) to regulate the hight blood pressure. It is based on slate model that repre-sent the mathematical equation that clarifies relationship between blood pressure and vasoactive drug injection. In this work Squirrel Search Algo-rithm (SSA) and Grey Wolf Optimizer (GWO) algorithms are considered to optimize the controller parameters. the results showed that the suggested controller has good performance and stabilize the mean arterial pressure with small settling time (below than 400s) and small overshoot (below than 1 mmHg) with low amount of error.