@article{ author = {Zakeri, Yadollah and Sheikholeslam, Farid and Haeri, Mohamm}, title = {A Unified Approach to Structural Analysis and Design of Model Predictive Controllers}, abstract ={Designing linear MPC with pre-specified closed-loop characteristics for stability and robustness consideration as well as optimal time domain performance, is an interesting issue. In this paper, we develop a new enabling formulation, which can explicitly show existence and properties of the linear controller counterpart for transfer function-based MPC, known as Generalized Predictive Control. This development allows one to transform desired closed loop specifications to constraints on new-defined variables of the GPC optimization problem along with desired time domain performance-related design parameters. Input output constraints also can be transformed to constraints on these new variables. Fantastic results are illustrated by an ongoing example. It is a unified approach to answer some key questions in both theory and application such as analysis and design for desired performance, stability and robustness, controller matching, reference governor GPC, and design of model reference predictive control in data-driven control.}, Keywords = {model predictive control, model reference predictive control, optimal control, robust control, controller matching, reference governor.}, volume = {1}, Number = {1}, pages = {1-9}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.1}, url = {http://jocee.kntu.ac.ir/article-1-25-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-25-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {FadaieAbras, Mehdi and Abbaszadeh, Karim and Siadatan, Alirez}, title = {An Energy-based Predictive Control with a Fast Real-Time Current-Tuning for Mono-Inverter Dual-Parallel PMSM Motors in Power Train Application}, abstract ={Economic approach and optimization in rail transportation systems led to the introduction of the mono inverter dual parallel motor (MIDP) system. Most researchers introduce the model predictive control (MPC) method to drive this system in order to overcome the problem of load torque inequality on the wheels. But the obtained control signals do not result in the proper operation of the MIDP system, because the cost function is solved online or evaluated by the limited number of control signals. The present paper introduces an energy-based predictive speed control instead of the conventional proportional-integral controller in the outer loop and uses Pontryagin’s maximum principle to regulate electrical currents in the inner loop. Since this method solved the quadratic-linear cost functions offline, the control signals of the MIDP system are obtained as linear-parametric functions. After modeling and simplifying the mathematical equations, the introduced method is simulated and compared with conventional Finite and Infinite Control Set-MPC methods. The results indicate the agility and high accuracy of the controllers in both transient and steady states.}, Keywords = {Mono Inverter Dual Parallel (MIDP), Model Predictive Control (MPC), Permanent Magnet Synchronous Motor (PMSM)}, volume = {1}, Number = {1}, pages = {11-26}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.11}, url = {http://jocee.kntu.ac.ir/article-1-26-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-26-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Saberi, Mohammad Mahdi and Zamani, Iman and Ebadollahi, Saee}, title = {Stability Analysis of Switched Time-Delay Systems; a Multiple Case}, abstract ={This paper investigates the problem of exponential stability of switched systems with multiple time-varying delays. By using the multiple discontinuous Lyapunov function (MDLF) approach and the mode-dependent average dwell time (MDADT) switching signal, new conditions in the form of linear matrix inequalities (LMIs) are proposed, which is the first attempt in this area. These conditions guarantee the exponential stability of the switched system with stable and unstable subsystems where multiple time-varying delays are considered in the states. In this method all subsystems cannot be unstable, and switched system should compose of at least one stable subsystem. Furthermore, two examples are given to illustrate the effectiveness of the obtained theoretical results.}, Keywords = {Stability Analysis, Switched Systems, Multiple Time Delay, Multiple Lyapunov Function.}, volume = {1}, Number = {1}, pages = {27-36}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.27}, url = {http://jocee.kntu.ac.ir/article-1-43-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-43-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Arezoo, Jamal and Salahshoor, Karim}, title = {A Novel Integrated Solution Algorithm for Explicit Model Predictive Control in Embedded Applications}, abstract ={The paper addresses complexity of explicit model predictive control (MPC) in terms of online evaluation and memory requirement. Explicit MPC defines a piecewise affine (PWA) function over different regions of system state-space. An efficient approach is presented to integrate both complexity reduction schemes via 1) a separator function to remove regions defined over control actions which attain saturated values and 2) elimination of regions which have symmetry. The proposed method reduces the conventional necessity of explicit MPC, online evaluation, and storage requirement, by removing the regions corresponding to the saturated optimal control inputs using a simpler replacement function. Moreover, the method incorporates the concept of symmetries in the context of MPC quadratic programming problem to eliminate redundant symmetric regions, leading to devising a novel solution algorithm with much less complexities for embedded applications. The presented method also simplifies the symmetry identification process because the symmetry search algorithm is performed only for regions on which control action is unsaturated rather than the whole original regions. Various simulation tests are conducted to comparatively demonstrate effectiveness of the proposed algorithm for an inexpensive implementation of large-order systems in terms of the required storage and number of floating point operations.}, Keywords = {Explicit MPC, quadratic programing, symmetric regions, and saturated regions}, volume = {1}, Number = {1}, pages = {37-47}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.37}, url = {http://jocee.kntu.ac.ir/article-1-33-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-33-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Ghahremani, Nemat Allah and Alhassan, Hass}, title = {Generalized Incremental Predictive Filter for Integrated Navigation System INS/GPS in Tangent Frame}, abstract ={The extended Kalman filter (EKF) is a widely used algorithm for nonlinear estimation of Inertial Navigation Systems (INS) and the Global Position System (GPS) integration. However, EKF has several limitations, such as linearization dependency, and the model error statistics are assumed as a zero-mean Gaussian noise with known covariance. Consequently, if EKF is not tuned correctly, the INS error predictions can quickly diverge. To overcome the limitations of existing Kalman algorithms, this paper derives a real-time predictive approach. The proposed method increases the accuracy and the reliability requirements of loosely INS/GPS integration by estimating the unknown model errors of sensors without augmenting the state space. Also, considering the insufficiency of the researches on the integrated navigation in tangent (launch) frame, this research derives the navigation equations in tangent frame and its error model is analyzed. The estimation performance of the predictive approach is analyzed. The performance is verified using an experimental data acquired from a land-vehicle test. The results of predictive filter demonstrate superior performance to the traditional EKF. The test results of land-vehicle navigation validate the advantages of the presented method, which increases the position accuracy by an amount of 70% and it decreases the computational cost to 50% and improves the estimation performance for the integrated INS/GPS better than the traditional EKF. This test is a fundamental step to determine the capability of the filter for robotics and aerospace applications in future.}, Keywords = {Extended Kalman filter, Incremental predictive filter, INS/GPS, Land-vehicle test, Tangent frame.}, volume = {1}, Number = {1}, pages = {49-59}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.49}, url = {http://jocee.kntu.ac.ir/article-1-35-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-35-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Abbasi, Ehsan and Danesh, Mohammad and Ghayour, Mostaf}, title = {Distributed formation tracking control of a multi-quadrotor system based on sliding mode and a rate bounded PID controller in the presence of internal perturbation and external disturbance}, abstract ={In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved. At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem. Some coupling terms between the two subsystems are regarded as internal perturbations. Bounded external disturbances are considered in this paper too and are entered to the quadrotors. Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively. For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors. These errors are only associated with external disturbances. Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.}, Keywords = {Multi-agent system, Quadrotor, sliding mode controller, distributed control protocol}, volume = {1}, Number = {1}, pages = {61-70}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.61}, url = {http://jocee.kntu.ac.ir/article-1-46-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-46-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Rashidnejad, Zahra and karimaghaee, paknosh}, title = {Design of adaptive backstepping control for stabilization and synchronization of a class of uncertain fractional-order chaotic systems with uncertainties and disturbances}, abstract ={In this work, the goal is to achieve both stabilization and synchronization of a general class of fractional-order chaotic systems. It is assumed that there are uncertainties and external disturbances in the system, and it is also supposed that the system parameters are unknown. Uncertainties and disturbances are undesirable factors that can disrupt the system response. To this end, appropriate adaptive laws have been proposed to address these factors. A systematic step-by-step technique is also developed for designing a controller based on the backstepping method. The analysis of the proposed control structure is carried out according to the fractional Lyapunov theorem which is a more realistic technique for the analysis and stability of nonlinear systems. Finally, the simulation results are presented to confirm and prove the effectiveness of the proposed method. The results of implementing our proposed controller for different fractional-order chaotic systems are compared with some control approaches in the available papers and it confirms the superiority of the proposed control in this paper.}, Keywords = {Adaptive control, backstepping control, chaotic system, fractional calculus, synchronization.}, volume = {1}, Number = {1}, pages = {71-83}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.71}, url = {http://jocee.kntu.ac.ir/article-1-24-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-24-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} } @article{ author = {Gharib, Behnam and MahboobiEsfanjani, Rez}, title = {Distributed Control of Multi-Robot Systems with Communication Delay for Cooperative Source Seeking}, abstract ={This paper investigates the problem of cooperative source seeking by networked multi-agent systems subject to communication time-delay; where the robots of the group are equipped with the sensors that measure the field concentration. First, a novel distributed control algorithm is proposed based on the estimation of the field gradient to move the agents along the gradient direction toward the source. Sufficient conditions are derived in terms of linear matrix inequalities to tune the parameters of the control law to assure the convergence of the team to a neighborhood of the source in spite of the estimation errors and communication time-delay. A cooperative estimation scheme is developed to obtain the gradient of the formation center by the delayed information. Finally, simulation results in Matlab® and Webots® are presented to demonstrate the efficiency and applicability of the suggested theory.}, Keywords = {communication time-delay, distributed control, gradient estimation, source seeking.}, volume = {1}, Number = {1}, pages = {85-97}, publisher = {K. N. Toosi University of Technology (KNTU)}, doi = {10.52547/jocee.1.1.85}, url = {http://jocee.kntu.ac.ir/article-1-58-en.html}, eprint = {http://jocee.kntu.ac.ir/article-1-58-en.pdf}, journal = {Journal of Control (English Edition)}, issn = {2008-8345}, eissn = {2538-3752}, year = {2022} }