Browsing by Author "Delavari, Hadi"

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A Note On Stability Of Sliding Mode Dynamics in Suppression Of Fractional-Order Chaotic Systems
(Pergamon-elsevier Science Ltd, 2013) Faieghi, Mohammad Reza; Baleanu, Dumitru; Delavari, Hadi; Baleanu, Dumitru; 56389
We consider a class of fractional-order chaotic systems which undergoes unknown perturbations. We revisit the problem of sliding mode controller design for robust stabilization of chaotic systems using one control input. In the recent works, it was assumed that one of the system equations are perturbed by uncertainties. For this case we show that the sliding mode dynamics are globally stable which is not addressed so far. Next, we allow that all the system's equations depend on uncertain terms and provide a theoretical justification for applicability of the existing design. We also determine the least amount of precise information about the chaotic system that is needed to design the controller. (C) 2012 Elsevier Ltd. All rights reserved.
A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations
(Elsevier, 2012) Faieghi, Mohammad Reza; Baleanu, Dumitru; Delavari, Hadi; Baleanu, Dumitru
In industrial applications, the performance of robot manipulators is always affected due to the presence of uncertainties and disturbances. This paper proposes a novel adaptive control scheme for robust control of robotic manipulators perturbed by unknown uncertainties and disturbances. First, an active sliding mode controller is designed and a sufficient condition is obtained guarantying reachability of the states to hit the sliding surface in finite time. Then, based on a Lyapunov function candidate an adaptive switching gain is derived which make the controller capable to bring the tracking error to zero without any disturbance exerted upon the stability. By virtue of this controller it can be shown that the controller can track the desired trajectories even in the presence of unknown perturbations. For the problem of determining the control parameters Particle Swarm Optimization (PSO) algorithm has been employed. Our theoretic achievements are verified by numerical simulations. (C) 2011 Elsevier B.V. All rights reserved.
Adaptive fractional-order blood glucose regulator based on high-order sliding mode observer
(inst Engineering Technology-iet, 2019) Delavari, Hadi; Baleanu, Dumitru; Heydarinejad, Hamid; Baleanu, Dumitru; 56389
Type I diabetes is described by the destruction of the insulin-producing beta-cells in the pancreas. Hence, exogenous insulin administration is necessary for Type I diabetes patients. In this study, to estimate the states that are not directly available from the Bergman minimal model a high-order sliding mode observer is proposed. Then fractional calculus is combined with sliding mode control (SMC) for blood glucose regulation to create more robustness performance and make more degree of freedom and flexibility for the proposed method. Then an adaptive fractional-order SMC is proposed. The adaptive SMC protect controller against disturbance and uncertainties while the fractional calculus provides robust performance. Numerical simulation verifies that the proposed controllers have better performance in the presence of disturbance and uncertainties without chattering.
Control of an uncertain fractional-order Liu system via fuzzy fractional-order sliding mode control
(Sage Publications Ltd, 2012) Faieghi, Mohammad Reza; Baleanu, Dumitru; Delavari, Hadi; Baleanu, Dumitru
Robust control of fractional-order Liu system is addressed in this paper. The proposed approach relies on sliding mode control being established on a novel fractional-order integral type sliding surface. Theoretically, based on classical Lyapunov stability theorem, it has been shown that under suitable conditions, the proposed controller guarantees the system's stability. Further, it is shown that the method presented is capable for both commensurate and incommensurate systems. In order to reduce the chattering effect, a fuzzy logic controller is employed. Numerical simulations verify these results.
Fuzzy type-2 fractional Backstepping blood glucose control based on sliding mode observer
(2019) Baleanu, Dumitru; Delavari, Hadi; Baleanu, Dumitru; 56389
A new combination of fractional order (FO) nonlinear control and sliding mode observer (SMO) for blood glucose regulation in type 1 diabetes mellitus is proposed in this paper. An observer estimates the difficult-to-measure process variables that are significant to control law design and to prevent failures. A SMO is proposed to estimate non-measurable states variables of Bergman minimal model by data acquired from a continuous glucose monitoring sensor. At first based on Backstepping method with FO sliding surface a control signal is proposed, and then interval type 2 fuzzy logic is utilized to reduce the chattering phenomenon in control signal. The FO sliding mode control provides robust performance and the Backstepping algorithm protects the controller in front of mismatched and matched uncertainties. Simulation results of the proposed controller are compared with its integer counterpart. © 2018, Springer-Verlag GmbH Germany, part of Springer Nature.
LMI-based stabilization of a class of fractional-order chaotic systems
(Springer, 2013) Faieghi, Mohammadreza; Baleanu, Dumitru; Kuntanapreeda, Suwat; Delavari, Hadi; Baleanu, Dumitru
Based on the theory of stabilization of fractional-order LTI interval systems, a simple controller for stabilization of a class of fractional-order chaotic systems is proposed in this paper. We consider the structure of the chaotic systems as fractional-order LTI interval systems due to the limited amplitude of chaotic trajectories. We introduce a simple feedback controller for the interval system and then, based on a recently established theorem for stabilization of interval systems, we reach to a linear matrix inequality (LMI) problem. Solving the LMI yields an appropriate decoupling feedback control law which suffices to bring the chaotic trajectories to the origin. Several illustrative examples are given which show the effectiveness of the method.
Robust stabilization of fractional-order chaotic systems with linear controllers: LMI-based sufficient conditions
(Sage Publications Ltd, 2014) Faieghi, Mohammad Reza; Baleanu, Dumitru; Kuntanapreeda, Suwat; Delavari, Hadi; Baleanu, Dumitru; 56389
This paper is concerned with the problem of robust state feedback controller design to suppress fractional-order chaotic systems. A general class of fractional-order chaotic systems is considered and it is assumed that the systems' equations depend on bounded uncertain parameters. We transform the chaotic system equations into linear interval systems, and a sufficient stabilizability condition is derived in terms of linear matrix inequality (LMI). Then, an appropriate feedback gain is introduced to bring the chaotic states to the origin. Such design will result in a simple but effective controller. Several numerical simulations have been carried out to verify the effectiveness of the theoretic results.
Sliding Observer for Synchronization of Fractional Order Chaotic Systems With Mismatched Parameter
(Sciendo, 2012) Delavari, Hadi; Baleanu, Dumitru; Senejohnny, Danial M.; Baleanu, Dumitru; 56389
In this paper, we propose an observer-based fractional order chaotic synchronization scheme. Our method concerns fractional order chaotic systems in Brunovsky canonical form. Using sliding mode theory, we achieve synchronization of fractional order response with fractional order drive system using a classical Lyapunov function, and also by fractional order differentiation and integration, i.e. differintegration formulas, state synchronization proved to be established in a finite time. To demonstrate the efficiency of the proposed scheme, fractional order version of a well-known chaotic system; Arnodo-Coullet system is considered as illustrative examples.
Stability analysis of Caputo fractional-order nonlinear systems revisited
(Springer, 2012) Baleanu, Dumitru; Baleanu, Dumitru; Sadati, Jalil
In this paper stability analysis of fractional-order nonlinear systems is studied. An extension of Lyapunov direct method for fractional-order systems using Bihari's and Bellman-Gronwall's inequality and a proof of comparison theorem for fractional-order systems are proposed