Hassan Sayyaadi

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Preisach model is a well-known hysteresis identification method in which the hysteresis is modeled by linear combination of hysteresis operators. Although Preisach model describes the main features of system with hysteresis behavior, due to its rigorous numerical nature, it is not convenient to use in real-time control applications. Here a novel neural(More)
This paper presents a mixed fuzzy-GA controller (MFGAC) for trajectory tracking of an industrial selective compliance assembly robot arm (SCARA), which is one of the most employed manipulators in industrial environments. In this robot nonlinear effects due to centrifugal, coriolis and internal forces are more important than friction and gravity forces,(More)
Position control of Shape Memory Alloy (SMA) actuators has been a challenging topic during the last years due to their nonlinearities in the governing physical equations as well as their hysteresis behaviors. Using the inverse of phenomenological hysteresis model in order to compensate the input–output hysteresis behavior of these actuators shows the(More)
In this paper, a nonlinear adaptive impedance controller is proposed for UAVs equipped with a robot manipulator that interacts with environment. In this adaptive controller, by considering the nonlinear dynamics model of the UAV plus the robot manipulator in Cartesian coordinates, all of model parameters are considered to be completely uncertain and their(More)
This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using(More)
Prandtl-Ishlinskii (P-I) model is one of the powerful operator-based phenomenological models which is used in modeling complex hysteretic nonlinear behavior in piezoelectric, piezoceramic, magnetostrictive and shape memory alloy actuators. The most appealing and unique aspect of the Prandtl-Ishlinskii model comes back to this fact that this model is(More)
Krasnosel’skii-Pokrovskii (KP) model is one of the great operator-based phenomenological models which is used in modeling hysteretic nonlinear behavior in smart actuators. The time continuity and the parametric continuity of this operator are important and valuable factors for physical considerations as well as designing well-posed identification(More)