Narges Gholami mozafari

Work place: Research and Development Department, Institute of Advance Science and Technology-SSP, Shiraz/Iran



Research Interests: Computer systems and computational processes, Artificial Intelligence, Robotics, Process Control System


Narges Gholami mozafari is currently working as a co researcher in Control and Robotic Lab at the institute of advance science and technology, IRAN SSP research and development Center. Her current research interests are in the area of nonlinear control, artificial control system and robotics.

Author Articles
Design Intelligent Model base Online Tuning Methodology for Nonlinear System

By Ali Roshanzamir Farzin Piltan Narges Gholami mozafari Azita Yazdanpanah Marjan Mirshekari

DOI:, Pub. Date: 8 Apr. 2014

In various dynamic parameters systems that need to be training on-line adaptive control methodology is used. In this paper fuzzy model-base adaptive methodology is used to tune the linear Proportional Integral Derivative (PID) controller. The main objectives in any systems are; stability, robust and reliability. However PID controller is used in many applications but it has many challenges to control of continuum robot. To solve these problems nonlinear adaptive methodology based on model base fuzzy logic is used. This research is used to reduce or eliminate the PID controller problems based on model reference fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

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Design PID Baseline Fuzzy Tuning ProportionalDerivative Coefficient Nonlinear Controller with Application to Continuum Robot

By Azita Yazdanpanah Farzin Piltan Ali Roshanzamir Marjan Mirshekari Narges Gholami mozafari

DOI:, Pub. Date: 8 Apr. 2014

Continuum robot manipulators are optimized to meet best trajectory requirements. Closed loop control is a key technology that is used to optimize the system output process to achieve this goal. In order to conduct research in the area of closed loop control, a control oriented cycle-to-cycle continuum robot model, containing dynamic model information for each individual continuum robot manipulator, is a necessity. In this research, the continuum robot manipulator is modeled according to information between joint variable and torque, which is represented by the nonlinear dynamic equation. After that, a multi-input-multi-output baseline computed torque control scheme is used to simultaneously control the torque load of system to regulate the joint variables to desired levels. One of the most important challenge in control theory is on-line tuning therefore fuzzy supervised optimization is used to tune the modified baseline and computed torque control coefficient. The performance of the modified baseline computed torque controller is compared with that of a baseline proportional, integral, and derivative (PID) controller.

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On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot

By Narges Gholami mozafari Farzin Piltan Mohammad shamsodini Azita Yazdanpanah Ali Roshanzamir

DOI:, Pub. Date: 8 Feb. 2014

Classical sliding mode controller is robust to model uncertainties and external disturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and fuzzy system together. Fuzzy rules allow fuzzy systems to approximate arbitrary continuous functions. To approximate a time-varying nonlinear system, a fuzzy system requires a large amount of fuzzy rules. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust both the premise and the consequence parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.

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