Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further suppress the chattering and overestimation problems. More importantly, the proposed adaptive technique can update the switching gain according to the system uncertainties, which can provide high gain in the reaching phase and then decrease to the smallest value in the sliding phase to avoid the monotonically increasing gain that exists in most adaptation methods. Third, the finite-time stability of the closed-loop system is proved based on the Lyapunov theorem. Finally, the simulation studies and experimental tests verify the effectiveness of the proposed control in terms of better tracking, strong robustness, and reduced chattering, compared to existing algorithms.
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... Show MoreThis research is devoted to design and implement a Supervisory Control and Data Acquisition system (SCADA) for monitoring and controlling the corrosion of a carbon steel pipe buried in soil. A smart technique equipped with a microcontroller, a collection of sensors and a communication system was applied to monitor and control the operation of an ICCP process for a carbon steel pipe. The integration of the built hardware, LabVIEW graphical programming and PC interface produces an effective SCADA system for two types of control namely: a Proportional Integral Derivative (PID) that supports a closed loop, and a traditional open loop control. Through this work, under environmental temperature of 30°C, an evaluation and comparison were done for
... Show MoreThe communication networks (mobile phone networks, social media platforms) produce digital traces from their usages. This type of information help to understand and analyze the human mobility in very accurate way. By these analyzes over cities, it can give powerful data on daily citizen activities, urban planners have in that way, relevant indications for decision making on design and development. As well as, the Call detail Records (CDRs) provides valuable spatiotemporal data at the level of citywide or even nationwide. The CDRs could be analyzed to extract the life patterns and individuals mobility in an observed urban area and during ephemeral events. Whereas, their analysis gives conceptual views about human density and mobility pattern
... Show MoreCrow Search Algorithm (CSA) can be defined as one of the new swarm intelligence algorithms that has been developed lately, simulating the behavior of a crow in a storage place and the retrieval of the additional food when required. In the theory of the optimization, a crow represents a searcher, the surrounding environment represents the search space, and the random storage of food location represents a feasible solution. Amongst all the food locations, the one where the maximum amount of the food is stored is considered as the global optimum solution, and objective function represents the food amount. Through the simulation of crows’ intelligent behavior, the CSA attempts to find the optimum solutions to a variety of the proble
... Show MoreWireless channels are typically much more noisy than wired links and subjected to fading due to multipath propagation which result in ISI and hence high error rate. Adaptive modulation is a powerful technique to improve the tradeoff between spectral efficiency and Bit Error Rate (BER). In order to adjust the transmission rate, channel state information (CSI) is required at the transmitter side.
In this paper the performance enhancement of using linear prediction along with channel estimation to track the channel variations and adaptive modulation were examined. The simulation results shows that the channel estimation is sufficient for low Doppler frequency shifts (<30 Hz), while channel prediction is much more suited at
... Show MoreColonoscopy is a popular procedure which is used to detect an abnormality. Early diagnosis can help to heal many patients. The purpose of this paper is removing/reducing some artifacts to improve the visual quality of colonoscopy videos to provide better information for physicians. This work complements a series of work consisting of three previously published papers. In this paper, optic flow is used for motion compensation, where a number of consecutive images are registered to integrate some information to create a new image that has/reveals more information than the original one. Colon images were classified into informative and noninformative images by using a deep neural network. Then, two different strategies were use
... Show MoreIn this paper, an adaptive medical image watermarking technique is proposed based on wavelet transform and properties of human visual system in order to maintain the authentication of medical images. Watermark embedding process is carried out by transforming the medical image into wavelet domain and then adaptive thresholding is computed to determine the suitable locations to hide the watermark in the image coefficients. The watermark data is embedded in the coefficients that are less sensitive into the human visual system in order to achieve the fidelity of medical image. Experimental results show that the degradation by embedding the watermark is too small to be visualized. Also, the proposed adaptive watermarking technique can preserv
... Show MoreNonlinear time series analysis is one of the most complex problems ; especially the nonlinear autoregressive with exogenous variable (NARX) .Then ; the problem of model identification and the correct orders determination considered the most important problem in the analysis of time series . In this paper , we proposed splines estimation method for model identification , then we used three criterions for the correct orders determination. Where ; proposed method used to estimate the additive splines for model identification , And the rank determination depends on the additive property to avoid the problem of curse dimensionally . The proposed method is one of the nonparametric methods , and the simulation results give a
... Show MoreAbstract:
This study is studied one method of estimation and testing parameters mediating variables in a structural equations model SEM is causal steps method, in order to identify and know the variables that have indirect effects by estimating and testing mediation variables parameters by the above way and then applied to Iraq Women Integrated Social and Health Survey (I-WISH) for year 2011 from the Ministry of planning - Central statistical organization to identify if the variables having the effect of mediation in the model by the step causal methods by using AMOS program V.23, it was the independent variable X represents a phenomenon studied (cultural case of the