Work place: Control and Robotic Lab, IRAN SSP Research and Development Center, Shiraz, Iran
E-mail:
Website:
Research Interests:
Biography
Amirzubir Sahamijoo is a research assistant at the Institute of Advanced Science and Technology, Research Center, IRAN SSP.
By Farzin Piltan Shahnaz TayebiHaghighi Amirzubir Sahamijoo Hossein Rashidi Bod Somayeh Jowkar Jong-Myon Kim
DOI: https://doi.org/10.5815/ijisa.2019.05.04, Pub. Date: 8 May 2019
Convergence speed for system identification and estimation is a popular topic for determining the kinematics and dynamic identification/estimation of the parameters of robot manipulators. In this paper, adaptive fuzzy inverse dynamic system estimation is used to improve robust modeling, especially for a serial links robot manipulator. The Lyapunov technique is used to analyze the convergence rate of the tracking error and increase the accuracy response of the parameter estimation. Performance of robot estimation is conducted, and the results show fast convergence of the proposed finite time technique for a 6-DOF robot manipulator.
[...] Read more.By Farzin Piltan Shahnaz TayebiHaghighi Somayeh Jowkar Hossein Rashidi Bod Amirzubir Sahamijoo Jeong-Seok Heo
DOI: https://doi.org/10.5815/ijisa.2019.04.05, Pub. Date: 8 Apr. 2019
In practical applications, modeling of real systems with unknown parameters such as distillation columns are typically complex. To address issues with distillation column estimation, the system is identified by a proposed intelligent, auto-regressive, exogenous-Laguerre (AI-ARX-Laguerre) technique. In this method, an intelligent technique is introduced for data-driven identiļ¬cation of the distillation column. The Laguerre method is used for the removal of input/output noise and decreases the system complexity. The fuzzy logic method is proposed to reduce the system’s estimation error and to accurately optimize the ARX-Laguerre parameters. The proposed method outperforms the ARX and ARX-Laguerre technique by achieving average estimation accuracy improvements of 16% and 9%, respectively.
[...] Read more.Subscribe to receive issue release notifications and newsletters from MECS Press journals