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Full-Text Articles in Physical Sciences and Mathematics
Adaptive Self-Organisation Of Wireless Ad-Hoc Control Networks, Fazel Naghdy, Nathan Simiana
Adaptive Self-Organisation Of Wireless Ad-Hoc Control Networks, Fazel Naghdy, Nathan Simiana
Professor Fazel Naghdy
A novel concept called Wireless ad-hoc Control Networks (WACNets), exploring an ad-hoc approach to networked distributed control, has been under study for the last five years in the research group. Such systems represent a new stage in the evolution of distributed control and monitoring. The work carried out in developing an adaptive self-organisation algorithm for WACNet is reported. The algorithm deploys a distance measure technique while satisfying the rules and assumptions developed for WACNet framework. The effectiveness of the algorithm is verified through computer simulation under a number of given scenarios. The results obtained show that the algorithm effectively drives …
Fuzzy Stability Control Of Robotic Manipulator With Input Delays, Haiping Du, Fazel Naghdy, David A. Stirling
Fuzzy Stability Control Of Robotic Manipulator With Input Delays, Haiping Du, Fazel Naghdy, David A. Stirling
Professor Fazel Naghdy
This paper studies the stabilisation control problem of a robotic manipulator with input delays. To deal with the highly nonlinear dynamics of a robotic manipulator, the model-based Takagi-Sugeno (T-S) fuzzy control strategy is applied. With representing the nonlinear robotic manipulator model as a T-S fuzzy model, sufficient conditions for designing a controller such that the system is stabilised with given decay rate are derived by constructing a less conservative Lyapunov-Krasovskii functional and using a tighter bounding technology for cross terms and the free weighting matrix approach. With appropriate derivation, all the required conditions are expressed as linear matrix inequalities (LMIs). …