Sharif Digital Repository

A new heuristic controller, called nonlinear model predictive control based on gravitational search algorithm, is proposed for nonlinear systems. Nonlinear model predictive control involves the solution at each sampling instant of a finite horizon optimal control problem subject to nonlinear system dynamics and constraints. The new controller formulates nonlinear model predictive control problem as a single stochastic dynamic optimization problem and uses a system of virtual masses to find the best control signal at each sampling instant. For this purpose, a cost function is defined to evaluate each point of the search space. This function minimizes simultaneously the tracking error, control... 

Vitamin C is an essential for the survival of human, animals and plants. Human and most animals can not produce vitamin C in their bodies, thus the need to produce vitamin C as a supplement is necessary. Nowadays, for the industrial production of vitamin C, two Chinese and Rychstyn methods are used, the first method is a two-step method which is accomplished biological and the second method is done chemically. In Chinese method, first step, which is the most important step is production of L-sorbose from D-sorbitol by Gluconobacter oxydans bacteria .Thus, in this study it was attempted to optimize the production of L-sorbose to be used in industrial production of L-ascorbic acid. In... 

This thesis addresses the problem of decentralized relative localization in multi-UAV systems operating in GNSS-denied environments. A novel algorithm is developed that leverages relative range and inertial measurements to jointly estimate relative positions, velocities, heading angles, and acceleration biases. By incorporating geometric constraints—such as the law of cosines and velocity relations—into the estimation process, the proposed approach significantly reduces bias errors and improves overall accuracy. Each group of three UAVs forms a triangular configuration, enabling members to exploit spatial relations and share local estimates. A master–regular structure is also considered,...