Open Access. Powered by Scholars. Published by Universities.®
Physical Sciences and Mathematics Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Physical Sciences and Mathematics
Application Of A Fuzzy Controller To Seismically Excited Nonlinear Buildings, Mohammed Al-Dawod, Bijan Samali, Kenny Kwok, Fazel Naghdy
Application Of A Fuzzy Controller To Seismically Excited Nonlinear Buildings, Mohammed Al-Dawod, Bijan Samali, Kenny Kwok, Fazel Naghdy
Professor Fazel Naghdy
Focuses on the benchmark control problems for seismically excited nonlinear buildings defined by Ohtori et al. (2000). This benchmark study focuses on three typical steel structures, 3-, 9- and 20-storey buildings designed for the SAC project for Los Angeles in the California region. The first stage of applying the fuzzy controller to this benchmark study for the 3-storey building is reported. The main advantage of the fuzzy controller is its inherent robustness and ability to handle the non-linear behaviour of the structure. This benchmark study is based on a number of evaluation criteria and control constraints and these limitations are …
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). …