Rasoul Ghadami

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In this paper, an adaptive multi-model sliding mode controller for robotic manipulators is presented. By using the multiple models technique, the nominal part of the control signal is constructed according to the most appropriate model at different environments. Adaptive single-input–single-output (SISO) fuzzy systems or radial basis function (RBF) neural(More)
In this paper, an adaptive neural network multiple models sliding mode controller for robotic manipulators is presented. The proposed approach remedies the previous problems met in practical implementation of classical sliding mode controllers. Adaptive single-input single-output (SISO) RBF neural networks are used to calculate each element of the control(More)
In this paper, an adaptive multi-model CMAC-based controller (AMCBC) in conjunction with a supervisory controller is developed for uncertain nonlinear MIMO systems. AMCBC is a kind of adaptive feedback linearizing controller where nonlinearity terms are approximated with multiple CMAC neural networks. With the help of a supervisory controller, the resulting(More)
This paper considers the problem of constrained stabilization of linear continuous-time systems when a quadratic cost criterion is imposed in the design of the state feedback control law. The linear quadratic regulator (LQR) is solved under positivity constraint, which means that the resulting closed-loop systems are not only optimally stable, but also(More)
This paper considers the problem of designing a decentralized PI observer with prescribed degree of convergence for a set of interconnected systems. Under the assumption of linear interactions, we provide a direct design procedure for the PI observer which can effectively be used in disturbance estimation and observer-based control design enhancing the(More)
In this paper, the problem of designing distributed LQR for multi-agent systems is considered when the states are not available for the control purpose. Two types of distributed observer-based LQR controller are developed with local observers and distributed observers. The design procedure provides a systematic way to construct control and observer gains(More)