Dr Ammar A Aldair

University of Basrah · Department of Electrical Engineering

A Field Programmable Gate Array (FPGA) is proposed to build an Adaptive Neuro Fuzzy Inference System(ANFIS) for controlling a full vehicle nonlinear active suspension system. A Very High speed integratedcircuit Hardware Description Language (VHDL) has been used to implement the proposed controller. Anoptimal Fraction Order PIlDμ (FOPID) controller...

The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. T...

To improve the vehicle performance such as ride comfort and road handling, the active suspension system should be used. However, the current active suspension system has a high energy consumption therefore reducing the fuel economy. In this paper the vibration excited by road unevenness is treated as a source of mechanical energy. It is being conve...

The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. T...

The main objectives of designing the controller for vehicle suspension systems are to reduce the discomfort sensed by passengers that arises from road roughness and to increase the road handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as many control objectives as possible. T...

3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed...

The accuracy of multi-nodes localization and identity estimation algorithms directly affects the performance of multi-agent systems like wireless sensor network (WSN), multi-robot, cellular phone and so on. In this paper , a novel algorithm is introduced in order to achieve a high accuracy for multi-node localization and identity estimation. A grid...

The last few years Quadrotor became an important topic, many researches have implemented and tested concerning that topic. Quadrotor also called an unmanned Aerial Vehicle (UAV), it's highly used in many applications like security, civil applications, aid, rescue and a lot of other applications. It’s not a conventional helicopter because of small s...

Precise power sharing considered is necessary for the effective operation of an Autonomous microgrid with droop controller especially when the total loads change periodically. In this paper, reactive power sharing control strategy that employs central controller is proposed to enhance the accuracy of fundamental reactive power sharing in an islande...

This article introduces a new control methodology to intelligently drive the motion of a mobile robot via given waypoints. A nonlinear model predictive controller (NMPC) is utilized to track the waypoints that are placed randomly at different positions in a given environment. Hence, various tracking paths can be generated based on locations of wayp...

Many people lose their limbs due to many reasons, like car accidents, wars, birth defects, etc., which makes doing their daily activities difficult or even impossible. The future technologies of the robot applications can be used to help those amputees' peoples. The robot controller is designed based on the eye gazing techniques, so it is possible...

In this article, a simulation platform is used to design and test the proposed controller and to study the performance of the eight legs walking robot based on SimScape Multibody toolbox. We show that, by using the SimScape Multibody toolbox, the intelligent controller can be designed without needing for the mathematical model of the legged robot....

In this paper, two algorithms are proposed to navigate the mini unmanned aerial vehicle (MUAV) in unknown environment. The first algorithm is path planning algorithm, it proposed to force the MUAV to track a specific trajectory. The second algorithm is obstacle avoidance algorithm, it proposed to avoid the collision between the MUAV and borrower wh...

This paper addresses the designing of a robust controller for an automatic landing, trajectory tracking and take-off missions of quadrotor unmanned aerial vehicle (QUAV). This has been investigated where the QUAV’s dynamic model involves nonlinearity, uncertainties, and coupling which makes the QUAV has a very complex system. The proposed controlle...

Quadruped robots have increasingly been used in complex terrains where barriers and gaps exist. In this paper, a four-legged robot with intelligent controllers is designed and simulated. The designed architecture comprises 12 servo motors, three per leg, to provide considerable flexibility in movement and turning. Proportional Integral Derivative (...

PID controller is the most popular controller in many applications because of many advantages such as its high efficiency, low cost, and simple structure. But the main challenge is how the user can find the optimal values for its parameters. There are many intelligent methods are proposed to find the optimal values for the PID parameters, like neur...

Aerodynamic torque of wind turbine is adjusted by controlling the pitch angle of the blades of the turbine when the wind speed is higher than rated wind speed. So that, in the recent research in this field, the pitch angle controller becomes dominated controller type for extracting the electrical power from the wind energy. Three types of the pitch...

p>Aerodynamic torque of wind turbine is adjusted by controlling the pitch angle of the blades of the turbine when the wind speed is higher than rated wind speed. So that, in the recent research in this field, the pitch angle controller becomes dominated controller type for extracting the electrical power from the wind energy. Three types of the pit...

In maze maneuvering, it is needed for a mobile robot to feasibly plan the shortest path from its initial posture to the desired destination in a given environment. To achieve that, the mobile robot is combined with multiple distance sensors to assist the navigation while avoiding obstructing obstacles and following the shortest path toward the targ...

Referring to the fact that the nth links bipedal walking robot has high nonlinearity and uncertainty parameters; therefore robust controllers for walking robot should be properly designed. This paper proposes a new robust control scheme based on fuzzy system and Ant Colony Optimization algorithm. Adaptive fuzzy controllers (AFCs) based on Ant Colon...

Navigation and obstacle avoidance problems are introduced and solved in this paper. A new algorithm called quadratic Bezier curves is used to navigate a mobile robot in an unknown environment. The quadratic Bezier curve can be improved through a division and conquer technique whose basic operation is the generation of multiple midpoints on a specif...

In this paper, the smart egg incubator system is chosen in order to be integrated with the IoT technology. The egg incubator system has two sensors types: temperature sensor and humidity sensor. Those sensors are used to measure the condition of the incubator and send the data to microcontroller system that responsible to make the diction to operat...

Suspension systems are essential parts in vehicles because of their usefulness for riding comfort and safety of passengers. Suspension system is used to isolate the road disturbance experienced by the tires from being transmitted to the passengers. The main objective of this paper is to propose a new intelligent control scheme based on using fuzzy...

This paper present a modeling and control of the nonlinear full vehicle active suspension system with passenger seat utilizing PID with artificial bee colony (ABC) algorithm technique. Five PID controllers are used . The main objective of designing the controller is to improve the performance of suspension system , while the aim of suspension syste...

The Mobile Manipulator Robot (MMR) has many applications in different aspects of the life, for example, grasping and transporting, mining, military, manufacturing, construction and others. The benefits of MMR rise in dangerous place where the human cannot reach such as disaster areas and dangerous projects sites. In this work, the PID controller is...

Nowadays, renewable energy is being used increasingly because of the global warming and destruction of the environment. Therefore, the studies are concentrating on gain of maximum power from this energy such as the solar energy. A sun tracker is device which rotates a photovoltaic (PV) panel to the sun to get the maximum power. Disturbances which a...

Nowadays, renewable energy is being used increasingly because of the global warming and destruction of the environment. Therefore, the studies are concentrating on gain of maximum power from this energy such as the solar energy. A sun tracker is device which rotates a photovoltaic (PV) panel to the sun to get the maximum power. Disturbances which a...

tracking is a serious function for an autonomous mobile robot navigating in unknown environments such as disaster areas, projects sites, and any dangerous place which the human cannot reach. This paper deals with modified the parameters of PID controller using Artificial Bee Colony (ABC) and Genetic Algorithm (GA) for path tracking of autonomous mo...

In this paper, a Neurofuzzy self tuning PID controller for wheel slip ratio control has been designed based on a quarter vehicle model. The proposed control structure consists of a Neurofuzzy controller and conventional PID controller, which has self tuning capabilities. The parameters of the PID controller (Kp, Kd and Ki) can be self-tuned on-l...

W ind ener gy is b y far t he fast est -gr owing r enewab le ener gy r esour ce. The p ower extr act ed fr om t he wind can b e op t imiz ed or r estr ict ed b y ad j ust ing t he b lad es p it ch angles of t he wind t ur b ine. The wind t ur b ine mod el is highly nonlinear ; t her efor e, an int elligent contr oller should b e d esigned t o ad...

In this paper, a neural network based predictive controller is designed for controlling the liquid level of the coupled tank system. The controlled process is a nonlinear system; therefore, a nonlinear prediction method can be a better match in a predictive control strategy. The neural network predictive controller that is discussed in this paper u...

Fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base. To reduce the huge number of fuzzy rules required in the normal design for fuzzy PID controller, the fuzzy PID controller is represented as Proportional-Derivative Fuzzy (PDF) controller and Proportional-Integr...

Fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base. To reduce the huge number of fuzzy rules required in the normal design for fuzzy PID controller, the fuzzy PID controller is represented as Proportional-Derivative Fuzzy (PDF) controller and Proportional-Integr...

Focusing on designing a robust controller for active suspension systems is very important for guaranteeing the riding comfort for the passengers and road handling quality for the vehicle. In this thesis, the mathematical model of full vehicle nonlinear active suspension systems with hydraulic actuators is derived to take into account the all mot...

This paper is concerned with full vehicle nonlinear active suspension systems, in which each suspension unit consists of three components: a nonlinear spring, a nonlinear damper and a nonlinear hydraulic actuator. An artificial intelligence Neural Control technique has been presented in this paper to design a robust controller for full vehicle nonl...

The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. T...

An optimal Fractional Order PI λ D µ (FOPID) controller is designed for a full vehicle nonlinear active suspension system. The optimal values of FOPID controller parameters for minimizing the cost function are tuned using an Evolutionary Algorithm (EA), which offers an optimal solution to a multidimensional rough objective function. The fitness par...