Browsing by Author "Faieghi, Mohammad Reza"

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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.
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.
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.