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Stabilization of Perturbed Nonholonomic Systems in Chained Foam

Thesis Info

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Author

Sarfraz, Muhammad

Program

PhD

Institute

Capital University of Science & Technology

City

Islamabad

Province

Islamabad.

Country

Pakistan

Thesis Completing Year

2018

Thesis Completion Status

Completed

Subject

Control Systems

Language

English

Link

http://prr.hec.gov.pk/jspui/bitstream/123456789/10461/1/Muhammad%20Sarfraz_Control%20Sys_2018_CUST_PRR.pdf

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727231682

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Many real-world systems exhibit velocity-dependent and/or acceleration-dependent constraints in their mathematical models. If these constraints are non-integrable then these systems are known as nonholonomic systems. Examples of such nonholonomic systems include hopping robots, unmanned aerial vehicles (UAVs), car-like robots, autonomous underwater vehicles (AUVs), surface vessels, vertical take-oand landing systems and many more. These systems are special as, in general, the stabilization problem of these systems cannot be solved by smooth (or continuous) static state-feedback and, thus, requires time-varying or discontinuous state-feedback control. In this research, we are consideringrst-, secondand higher-order nonholonomic systems that can be transformed into chained or power form which are canonical representations of these mechanical systems. The importance of stabilization problem of perturbed nonholonomic systems is further magni ed by the variety of real-world day-to-day applications. This research presents the solution to the stabilization problems for a selected class of perturbedrst-, second- and higher-order nonholonomic mechanical systems. The methodologies are based on adaptive integral sliding mode control (AISMC). For the perturbed nonholonomic system, the original system is transformed into perturbed chained form. Then this perturbed chained form system is further transformed into a special structure containing nominal part and some unknown terms through input transformation. The unknown terms are computed adaptively. Later the transformed system is stabilized using integral sliding mode control (ISMC). The stabilizing controller for the transformed system is constructed which consists of the nominal control plus some compensator control. The compensator controller and the adaptive laws are derived in such a way that derivative of a Lyapunov function becomes strictly negative. A similar approach is applied to the third-order nonholonomic system with a jerk constraint. The validity of the proposed controllers is ascertained by simulating the perturbedrst-, secondand higher-order nonholonomic systems in MATLAB / SIMULINK. The proposed control algorithms globally steer the whole system to the origin.
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جزئیات نگاری

جزئیات نگاری

                ناطق نے ناول میں جزئیات نگاری سے کام لیاہے عصری دور میں جزئیات نگاری کواتنی اہمیت نہیں دی جاتی۔مصنف نے اس کے برعکس اپنے ناول’’کماری والا‘‘میں جزئیات نگاری کو بڑھا دیا ہے اور ہر ایک واقعے کی جزئیات کو بیان کیا ہے۔اس طرح ایک طرف تو تحریر میں خوبصورتی پیدا ہوئی پر ساتھ ساتھ کہانی غیر ضروری طوالت میں چلی گئی۔ وہ اپنی زندگی میں جن حالات سے گزر چکے ہیں انھوں نے ان سب کو بتانے کی کوشش کی ہے۔ایک ایک پل کو اس طرح بتایا ہے کہ قاری’’ضامن‘‘کی زندگی کو جزئیات نگاری کی وجہ سے مکمل جانتا ہے وہ کب ،کس پل ،کہاں ،کیا کرتا ہے سب باتوں کو ناطق نے تفصیلاًبیان کیا ہے۔بات یہ بھی درست ہے کہ جب قاری ناول پڑھتا ہے تو اسے خود حالات و واقعات کو مکمل جان لینے کی دھن ہوتی ہے۔اس لیے اگر مصنف نے ان حالات کو مدنظر نہ رکھا ہو تا تو ناول صرف ایک بیانیہ کہلاتا۔جزئیات نگاری قاری کی دلچسپی کو بڑھاتی ہے۔مصنف نے بھی ناول میں مکمل ماحول کا نقشہ قاری کے ذہن میں ابھارا ہے اپنی جزئیات نگاری کی مدد سے یہ قاری کیلئے انہماک کا ذریعہ ہے۔

 

 

Grief and Shock, Discernment and Dificulties, Their Reasons and Motives in the Light of the Teachings of the Holy Prophet (PBUH)

Islam has this faith that everything of the universe, small or big has come into existence with the will, power, method and knowledge of Allah. Fate is the attribution of Allah, which is the truth. It is the condition to have belief of this faith. Since, faith is the attribution of Allah and it’s impossible for anyone to know the extent of godly attributions, so the issue of fate is delicate and precise. One must only have the faith that whatever is happening in the world was already in the knowledge of Allah and god has already saved it on the safe tablet. The dilemma of fate has not been solved by anyone and it will never be solved. There must be a simple faith that whatever is happening in the world has already known by Allah as the Creator of everything is God and everything has come into existence with His creation. All the matters happening in the world are of two kinds. In some of them the will and authority is prevail. In these matters which are to be done which are not to be done orders of their execution or prohibition are given. If they are not performed because of will and authority, there will be accountability for them. Secondly, all those works which have the order of not to be performed, it is necessary not to perform them with one’s will and authority. If those works are not avoided, one must be accountable for them. There are some other works which do not involve our will and authority so, whatever happens is according to our fate. The works having our will and authority for performance will be rewarded and punished accordingly. This study explores the reasons of grief, shock, discernment and difficulties, their reasons and motives in the light of teaching of The Holy Prophet.

Detection and Sequence Determination of Begomoviruses Associated With Leaf Curl Disease of Capsicum Spp.

The genus begomovirusbelongs to the family Geminiviridae that have emerged as serious constraints worldwide and infect variety of crops including vegetables, ornamental plants and weeds. To determine the diversity of begomoviruses on chillies,samples were collected on the basis of symptoms from Attock, Talagang, Chakwal, Islamabad and Hyderabad. Samples were tested by TAS-ELISA against begomoviruses by use of monoclonal antibodies of African cassava mosaic virus (ACMV), Indiancassava mosaic virus (ICMV) and Okra leaf curl virus (OLCV). The results indicated that all isolates showed range of high to moderate or low level of reaction. A panel of four monoclonal antibodies of ACMV, three of ICMV and three of OLCV were used. Epitope profile pattern slightly differed within each group, depending upon the location and concentration of the virus in the tested isolates. It was also confirmed that symptomatic chilli samples contained multiple infections of the begomoviruses in the studied area. Diverse patterns were found indicating great diversity among begomoviruses infecting chillies. The core region was amplified using two sets of degenerate primers. The sequencing data of nineteen samples indicates the presence of nine different species of begomoviruses, namely;Chilli leaf curl virus (ChLCV),Mesta yellow vein mosaic virus (MYVMV), Tomato enation leaf curl virus (ToELCV), Tomato leaf curl Karnataka virus (ToLCKV),Tomato leaf curl Gujarat virus (ToLCGV),Papaya leaf curl virus (PLCV),Tomato yellow leaf curl virus (ToYLCV),Chilli leaf curl Oman virus (ChLCOV),Pedilanthus leaf curl virus(PeLCV).More than one virus was isolated from the single sample indicating 1 12 thepresence of mixed populations of begomoviruses in chilli crop. Full length genome of four different begomovirus species was obtained, (248)Pedilanthus leaf curl virus (PeLCV), (249)Cotton leaf curl Burewala virus (CLCuBV), Pepper leaf curlvirus (PepLCV) and (251)Tomato leaf curl Gujarat virus (ToLCGV). No evidence for the presence of DNA-B was available, using abutting primers from the Intergenic Region (IR), when the same samples were tested. This indicates the monopartite nature of begomoviruses isolates, associated with betasatellites and alphasatellites. It becomes clear that CLCuBV and PepLCVwere associated with PLCVβ and CLCuBα. However PeLCV possesses PLCVβ but there was no association of alphasatellites. Furthermore, ToLCGV was associated EYVβ; however, alphasatellite was absent. Apart from understanding the nature of mix infection, this study has both epidemiological and pathological implications. Diseases caused by begomoviruses and associated DNA satellites have been expanding rapidly both in geographical distribution and host range. Given the presence of large number of begomoviruses throughout Asia and Africa, and ability of DNA-β to substitute for DNA-B, the probability may exist that new species/strains of begomoviruses emerge. Any effort towards developing resistance to disease, either by conventional or nonconventional means would be wise to take into account the possibility of more complex situation becoming important in chilies in the future.