Hamed Rahimi Nohooji

Hamed Rahimi Nohooji
Iran University of Science and Technology · School of Mechanical Engineering

About

40
Publications
6,046
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494
Citations

Publications

Publications (40)
Article
Full-text available
This paper presents a novel adaptive fault-tolerant neural-based control design for wind turbines with an unknown dynamic and unknown wind speed. By utilizing the barrier Lyapunov function in the analysis of the Lyapunov direct method, the constrained behavior of the system is provided in which the rotor speed, its variation, and generated power re...
Article
An optimal robot‐environment interaction is designed by transforming an environment model into an optimal control problem. In the optimal control, the inverse differential Riccati equation is introduced as a fixed‐end‐point closed‐loop optimal control over a specific time interval. Then, the environment model, including interaction force, is formul...
Article
This paper presents a novel constructive control design applicable for uncertain dynamic systems subject to input and state saturations, unknown direction, and actuation faults. The controller is based on the direct Lyapunov method, which by use of the Nussbaum-type function, provides an adaptive control scheme that can handle the effect of unknown...
Data
MATLAB figures of the paper are all available in this file for the paper "A Neuro-Adaptive Maximum Power Tracking Control of Variable Speed Wind Turbines with Actuator Faults"
Data
To run this simulation: 1- open the file "Wind_Turbine_Subsystems_full_load.slx" 2- load the file "VVV.mat" 3- Change the MATLAB folder to the folder containing all files. 4- Run the simulation
Data
The MATLAB figures of the paper are available in this file (for the paper "Constrained Control of Wind Turbines for Power Regulation in Full Load Operation")
Data
the MATLAB files of all figures are available in this file (for the paper "Optimum efficiency control of a wind turbine with unknown desired trajectory and actuator faults")
Data
To run this simulation: 1- open the file Wind_Turbine_Subsystems_full_load.slx" 2- load the file "VVV.mat" 3- Change the MATLAB folder to the folder containing all files. 4- Run the simulation
Data
To run this simulation: 1- open the file "Wind_Turbine_Subsystems_partial_load.slx" in the folder FTC_Partial_Final 2- load the file "WindSpeedPartialLoad.mat" 3- Change the MATLAB folder to the FTC_Partial_Final folder containing all files. 4- Run the simulation
Data
MATLAB Simulink files for the simulations of this paper (for the paper "Optimum efficiency control of a wind turbine with unknown desired trajectory and actuator faults")
Data
final MATLAB files of all figures (for the paper "Optimum efficiency control of a wind turbine with unknown desired trajectory and actuator faults")
Article
Full-text available
Proportional integral derivative (PID) regulators are the most practical control schemes for industrial wind turbines. The key to PID design is the determination of the control parameter gains, which motivated our attempts to construct an adaptive PID control for wind turbines allowing auto-tuning of the gains without the need for trial and error p...
Conference Paper
Full-text available
This paper presents a neural adaptive fault tolerant control design of wind turbines in partial load operation. The controller is designed to be robust against actuator faults as well as noise, while keeping the wind turbine generating as much power as possible. The wind speed variation is considered as an external disturbance, and an adaptive radi...
Conference Paper
Full-text available
The safe operation of wind turbines is a vital criterion which should be considered in the controller design to avoid rotor over speeding and hazardous operation. In this regard, the main focus of this paper is to keep the wind turbine operating within given limits by considering constrained control concepts using the barrier Lyapunov function. The...
Article
Full-text available
The operational wind turbine efficiency in the power maximization regions and reliability improvement to reduce the produced power cost can both be enhanced by using an appropriate controller to cope with the highly nonlinear behavior of wind turbines in the presence of wind speed variation and actuator faults. In this regard, a nonlinear controlle...
Article
Full-text available
Power maximization has always been a practical consideration in wind turbines. The question of how to address optimal power capture, especially when the system dynamics are nonlinear and the actuators are subject to unknown faults, is significant. This paper studies the control methodology for variable-speed variable-pitch wind turbines including t...
Article
This paper is concerned with the dynamic motion analysis and the planning of maximum payload path of flexible manipulators. The finite element method was employed for dynamic modelling of the system and the motion of the model was considered as a combination of the rigid displacement and the elastic deformation of each link. Each manipulator link w...
Article
This paper is dealt with dynamic analysis of the wheeled mobile manipulators in the presence of moving obstacles considering optimal payload criterion. General dynamic formulation of the system was derived, and the moving obstacle avoidance strategy was proposed in terms of dynamic potential functions. The problem of dynamic motion planning and pay...
Article
This paper reviews literature on dynamic analysis and intelligent control techniques for flexible robot manipulators. First, a comparative dynamic analysis of flexible manipulators was presented and then control strategies were categorized and studied. Fuzzy logic, neural network, and genetic algorithm approaches were introduced and a range of cont...
Article
This paper presents theoretical and experimental investigations in dynamic modeling and optimal path planning of a non-holonomic mobile robot in cluttered environments. A mobile robot in the presence of multiple obstacles was considered. Nonlinear dynamic model of the system was derived with respect to non-holonomic constraints of robot’s platform....
Article
Full-text available
How to plan the optimal trajectory of nonholonomic mobile manipulators in dynamic environments is a significant and challenging task, especially in the system with a moving target. This paper presents trajectory optimization of a nonholonomic mobile manipulator in dynamic environment pursuing a moving target. Full nonlinear dynamic equations of the...
Article
Finding the full load motion for a point-to-point task can maximize the productivity and economic usage of the mobile manipulators. The presented paper proposes a technique to determine the maximum allowable dynamic payload for flexible mobile manipulators along with the obtained optimal trajectories. Non-linear modeling of the mobile robotic manip...
Article
Full-text available
In this work, a computational algorithm is developed for the smooth‐jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of env...
Article
This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach i...
Article
Full-text available
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagran...
Article
This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach i...
Article
The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are...
Article
Full-text available
Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value...
Chapter
Full-text available
In this chapter, modelling and control of mechanical manipulator had been studied. First, kinematic and dynamic modelling of flexible link, flexible joint and mobile manipulators have been considered. Then, optimal control of a flexible mobile manipulator in point-topoint motion had been formulated based on the open-loop optimal control approach. T...
Article
This paper presents optimal control method to path planning of mobile robots with flexible joints. Dynamic equations are derived and additional kinematic constraints are used to solve the extra Dofs arose from base mobility. Then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. The Hamiltonian...
Chapter
Planning of robot trajectory is a very complex task that plays a crucial role in design and application of robots in task space. This paper is concerned with path planning of flexible robot arms for a given two-end-point task in point-to-point motion, based on indirect solution of optimal control problem. We employ the finite element method to mode...
Chapter
Designing optimal motion is critical in several applications for mobile robot from payload transport between two given states in a prescribed time such that a cost functional is minimized. This paper deals with the problem of path design of wheeled non-holonomic robots with flexible joints, based on Pontryagin’s minimum principle. The simplified ca...
Article
Full-text available
We present an open-loop optimal control approach to treat the optimal trajectory planning problem for nonholonomic wheeled mobile robots in the presence of kinematics and dynamics of both wheels and manipulators. This method is based on the Pontryagin's minimum principle that by providing a two point boundary value problem is solved the problem. Th...
Conference Paper
Finding optimal trajectory is critical in several applications for robots from payload transport between two given states in a prescribed time such that a cost functional is minimized. This paper is concerned with the path planning of flexible robotic arms in point-to-point motion, based on indirect solution of optimal control problem. Dynamic mode...
Conference Paper
Full-text available
In this paper Open-loop optimal control method is proposed as an approach for trajectory optimization of flexible mobile manipulator for a given two-end-point task in point-to-point motion Dynamic equations are derived using combined Euler–Lagrange formulation and assumed modes method. To solve the optimal control problem an indirect method via es...

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Projects

Project (1)
Project
* Wind turbine system faults detection; including pitch actuator dynamic change, pitch bias, effectiveness loss, generator torque bias, and sensors * Design the baseline controller in which fault tolerance feature is implemented. * fault identification to gather fault information to be used for maintenance purposes