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UAV Control Based on Dual LQR and Fuzzy-PID Controller

This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Comparison Different Estimation Method for Reliability Function of Rayleigh Distribution Based On Fuzzy Lifetime Data

    In this study, we present different methods of estimating fuzzy reliability of a two-parameter Rayleigh distribution via the maximum likelihood estimator, median first-order statistics estimator, quartile estimator, L-moment estimator, and mixed Thompson-type estimator. The mean-square error MSE as a measurement for comparing the considered methods using simulation through different values for the parameters and unalike sample sizes is used. The results of simulation show that the fuzziness values are better than the real values for all sample sizes, as well as  the fuzzy reliability at the estimation  of the Maximum likelihood Method, and Mixed Thompson Method perform better than the other methods in the sense of MSE, so that

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Publication Date
Tue Dec 05 2017
Journal Name
International Journal Of Science And Research (ijsr)
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Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Fuzzy Groups and Group Homomorphism

In this paper, we study the effect of group homomorphism on the chain of level subgroups of fuzzy groups. We prove a necessary and sufficient conditions under which the chains of level subgroups of homomorphic images of an a arbitrary fuzzy group can be obtained from that of the fuzzy groups . Also, we find the chains of level subgroups of homomorphic images and pre-images of arbitrary fuzzy groups

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Publication Date
Wed Sep 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors

This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program  uses th

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Publication Date
Mon Dec 18 2017
Journal Name
Al-khwarizmi Engineering Journal
High Order Sliding Mode Observer-Based Output Feedback Controller Design For Electro-Hydraulic System

A perturbed linear system with property of strong observability ensures that there is a sliding mode observer to estimate the unknown form inputs together with states estimation. In the case of the electro-hydraulic system with piston position measured output, the above property is not met. In this paper, the output and its derivatives estimation were used to build a dynamic structure that satisfy the condition of strongly observable. A high order sliding mode observer (HOSMO) was used to estimate both the resulting unknown perturbation term and the output derivatives. Thereafter with one signal from the whole system (piton position), the piston position make tracking to desire one with a simple linear output feedback controller after ca

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Publication Date
Sun Apr 03 2016
Journal Name
Journal Of The Faculty Of Medicine Baghdad
The Effect of Combined Oral Contraceptive Pills on Factor VII Activity and D-dimer Level in Healthy and Obese Women

Background: The combined pill includes a combination of an estrogen and a progestin. Users of these pills have an increased risk of developing thrombotic disorders compared to the non-users. Obesity is an independent risk factor for venous thromboembolism. Obesity with oral contraceptive use increases the risk of thrombosis furthermore.
Objectives: To assess the effects of these pills in obese and healthy non-obese women on factor VII activity and D-dimer level. Also to compare the thrombophilic effects of combined pills in women with control group of normal healthy non-users women.
Patients and Methods: This study was started on November 2014 and completed on March 2015, and included 50 females attended at Baghdad Teaching Hospita

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Publication Date
Tue May 01 2018
Journal Name
2018 2nd Ieee Advanced Information Management,communicates,electronic And Automation Control Conference (imcec)
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Publication Date
Fri Dec 01 2023
Journal Name
Advances In Science And Technology Research Journal
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Publication Date
Fri Jan 01 2021
Journal Name
Computers, Materials & Continua
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Publication Date
Thu Jun 01 2023
Journal Name
Journal Of Engineering
Analysis of Traditional and Fuzzy Quality Control Charts to Improve Short-Run Production in the Manufacturing Industry

Quality control charts are limited to controlling one characteristic of a production process, and it needs a large amount of data to determine control limits to control the process. Another limitation of the traditional control chart is that it doesn’t deal with the vague data environment. The fuzzy control charts work with the uncertainty that exists in the data. Also, the fuzzy control charts investigate the random variations found between the samples. In modern industries, productivity is often of different designs and a small volume that depends on the market need for demand (short-run production) implemented in the same type of machines to the production units. In such cases, it is difficult to determine the contr

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