Zahra Esmaeili

Work place: Research and Development Unit, SanatkadeheSabze Pasargad Company, (S.S.P. Co), Shiraz, Iran



Research Interests: Artificial Intelligence, Robotics, Process Control System


Zahra Esmaeili is Electrical-Electronic Engineering from Islamic Azad University. She has received her BE (Bachelor of Engineering) degrees in Electronic Engineering. She is currently working as a researcher in Dept. of Research & Development at the Iranian Research and Development Company SSP.Co, Shiraz, Iran. Her current research interests are in the area of Artificial Intelligence, Robotics, Nonlinear control and Fuzzy logic theory and application.

Author Articles
Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control

By Alireza Salehi Farzin Piltan Mahdi Mirshekaran Meysam Kazeminasab Zahra Esmaeili

DOI:, Pub. Date: 8 Mar. 2014

This research focuses on the basic concepts of continuum robot manipulator and control methodology. OCTARM Continuum robot manipulator is a 6 DOF serial robot manipulator. From the control point of view, robot manipulator divides into two main parts i.e. kinematics and dynamic parts. The dynamic parameters of this system are highly nonlinear. To control of this system nonlinear control methodology (computed torque controller and sliding mode controller) is introduced. Computed torque controller (CTC) is an influential nonlinear controller to certain systems which it is based on feedback linearization and computes the required arm torques using the nonlinear feedback control law. When all dynamic and physical parameters are known computed torque controller works superbly; practically a large amount of systems have uncertainties and sliding mode controller reduce this kind of limitation. Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Comparative study between computed torque controller and sliding mode controller is introduced in this research.

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Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot

By Meysam Kazeminasab Farzin Piltan Zahra Esmaeili Mahdi Mirshekaran Ali Reza Salehi

DOI:, Pub. Date: 8 Dec. 2013

Refer to this research, a position parallel error-based fuzzy inverse dynamic plus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formulation in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot manipulator system’s dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic plus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system.

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Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

By Mahdi Mirshekaran Farzin Piltan Zahra Esmaeili Tannaz Khajeaian Meysam Kazeminasab

DOI:, Pub. Date: 8 Oct. 2013

This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.

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