Trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. In this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. Along the path, the robot requires to observe a certain acceleration profile. Then, we formulated an optimization approach to generate optimal trajectory profiles for the mobile robot in the cases of maximum-distance and minimum-time problems. The optimization problem presented to find the trajectory strategy that would give the robot time-distance optimality to move from a start point to an end point where the robot should stay inside its acceleration limits all the time. The problem solved analytically because as it is well known, numerical solutions and iterative methods are time-consuming, therefore, our closed-form solutions demand low computation time. Finally, the results are verified by simulations. Manuscript profile

Because of high speed, efficiency, robustness and flexibility of multi-agent systems, in recent years there has been an increasing interest in the art of these systems. In competitive multi agent systems, a mechanism is required via which the agents can come to reach an agreement. Contract net protocols are one of the well-known negotiation protocols in multi-agent systems. In contract net protocol, each agent can be a manager or a contractor. The managers announce available tasks and the contractors bid over the tasks. Then, the managers investigate received bids and decide which contractor could perform the task. The decision is made based on an eligibility function. In this paper, a multi robot foraging problem is considered where mobile robots with limited energy resource try to transport some moving objects to a collection point. The problem is modeled as a contract net system and then solved. Efficiency of the algorithm and optimality of solutions are investigated by provided examples and simulations. Manuscript profile

In this paper, the driver with antiwindup and fuzzy high-performance and robust PI controller has been suggested for Permanent Magnet Synchronous Motor (PMSM). This controller is suggested for the design of the robust driver for three phase PMSM and the cost reduction of its control system. It’s useful for the industrial application and automation and ultimately speed control and the improvement of the dynamic behavior of the PMSM. Antiwindup control strategy prevents the increase of the output beyond its saturation point. So, it avoids the saturation. In effect, the suggestion of this new speed control scheme is in line with a goal to realize a better antiwindup scheme. The simulation results are shown for PMSM for two cases of antiwindup control strategy and fuzzy control strategy and with different operation modes. For this purpose, different three phase PMSM output waveforms are presented. These waveforms are presented for fuzzy control strategy in constant torque, constant speed and different reference speeds with focus on speed curve, electromagnetic torque and phase currents. Manuscript profile