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Full-Text Articles in Social and Behavioral Sciences
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the …
Robust And Intelligent Control Methods To Improve The Performance Of A Unified Power Flow Controller, C Benachaiba, Ahmed M. Haidar, M L. Doumbia
Robust And Intelligent Control Methods To Improve The Performance Of A Unified Power Flow Controller, C Benachaiba, Ahmed M. Haidar, M L. Doumbia
Faculty of Engineering and Information Sciences - Papers: Part A
The important factor disturbing the modern power systems today is load flow control. The Unified Power Flow Controller (UPFC) is an effective way for controlling the power flow and can provide damping capability during transient conditions. The UPFC is controlled conventionally using PI controller. This paper presents two robust controllers to improve the performance of the UPFC. The first is a RST controller based on the principle of pole placement and the second is an intelligent controller based on the principle of fuzzy logic optimized by Genetic Algorithm (GA).