Mohammad Reza Zarrabi
Abstract
Drones are among the most valuable and versatile technologies in the world, with applications in a vast number of fields such as traffic control, agriculture, firefighting and rescue, and filmmaking, to name a few. As ...
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Drones are among the most valuable and versatile technologies in the world, with applications in a vast number of fields such as traffic control, agriculture, firefighting and rescue, and filmmaking, to name a few. As the development of unmanned aerial vehicles (UAVs) accelerates, the safety of UAVs becomes increasingly important. In this paper, a robust adaptive controller is designed to improve the safety of a hexa-rotor UAV, and a robust adaptive controller is developed to control our system. In doing so, the wind parameters from the aerodynamic forces and moments acting on the hexa-rotor are estimated using an observer with the adaptive algorithm. This proposed controller guarantees stability and reliable function in the midst of parametric and non-parametric uncertainties. The process's global stability and tracking convergence are investigated using the Lyapunov theorem. The performance and effectiveness of the proposed controller are tested through two simulation studies, which take into account external disturbances that are a function of time.
Sahar Vaseei; Mohammad Reza Zarrabi
Abstract
In view of the tremendous importance of patients’ stability in medical sciences, this paper addresses the application of a sliding mode control in medical devices. In doing so, we consider a nonlinear dynamic system that shows the mathematical model of the human immunodeficiency ...
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In view of the tremendous importance of patients’ stability in medical sciences, this paper addresses the application of a sliding mode control in medical devices. In doing so, we consider a nonlinear dynamic system that shows the mathematical model of the human immunodeficiency virus. This nonlinear model has three variable states: healthy cells, infected cells, and free viruses. The proposed controller displays the effect of medication on preventing the production of the virus and blocking the new infection. This controller ensures the stability of this dynamic system provided for HIV in the event of a bounded disturbance. The stability and convergence of this process are proved by the Lyapunov theorem. Finally, a numerical example is given to demonstrate the efficiency of the proposed method.
