arXiv subjects

Fariba Ariaei

Publications and source records attributed to Fariba Ariaei.

3 recordsLinked to original sources

arXiv2024

Integrated Design and Control of a Robotic Arm on a Quadcopter for Enhanced Package Delivery

This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and MATLAB Simscape for simulation and control, this study addresses the challenges encountered in integrating the robotic arm with the drone, encompassing both mechanical and control aspects. Two types of controllers are developed and analyzed: a Proportional-Integral-Derivative (PID) controller and a Model Reference Adaptive Controller (MRAC). The design and tuning of these controllers are key components of this research, with the focus on their application in package delivery tasks. Extensive simulations demonstrate the performance of each controller, with PID controllers exhibiting superior trajectory tracking and lower Root Mean Square (RMS) errors under various payload conditions. The results underscore the efficacy of PID control for stable flight and precise maneuvering, while highlighting adaptability of MRAC to changing dynamics.

cs.RO↗

arXiv2022

Bode Integral Limitation For Irrational Systems

Bode integrals of sensitivity and sensitivity-like functions along with complementary sensitivity and complementary sensitivity-like functions are conventionally used for describing performance limitations of a feedback control system. In this paper, we investigate the Bode integral and evaluate what happens when a fractional order Proportional-Integral-Derivative (PID) controller is used in a feedback control system. We extend our analysis to when fractal PID controllers are applied to irrational systems. We split this into two cases: when the sequence of infinitely many right half plane open-loop poles doesn't have any limit points and when it does have a limit point. In both cases, we prove that the structure of the Bode Integral is similar to the classical version under certain conditions of convergence. We also provide a sufficient condition for the controller to lower the Bode sensitivity integral.

eess.SY↗

arXiv2020

Macroscopic network circulation for planar graphs

The analysis of networks, aimed at suitably defined functionality, often focuses on partitions into subnetworks that capture desired features. Chief among the relevant concepts is a 2-partition, that underlies the classical Cheeger inequality, and highlights a constriction (bottleneck) that limits accessibility between the respective parts of the network. In a similar spirit, the purpose of the present work is to introduce a new concept of maximal global circulation and to explore 3-partitions that expose this type of macroscopic feature of networks. Herein, graph circulation is motivated by transportation networks and probabilistic flows (Markov chains) on graphs. Our goal is to quantify the large-scale imbalance of network flows and delineate key parts that mediate such global features. While we introduce and propose these notions in a general setting, in this paper, we only work out the case of planar graphs. We explain that a scalar potential can be identified to encapsulate the concept of circulation, quite similarly as in the case of the curl of planar vector fields. Beyond planar graphs, in the general case, the problem to determine global circulation remains at present a combinatorial problem.

cs.DM↗