In this paper, trajectory tracking Control of a wheeled mobile robot is analyzed. Wheeled mobile robot is a nonlinear system. This system including three generalized coordinates ( x, y, Q), and a nonholonomic constraint. First, system kinematic and dynamic equations are obtained. A nonmodel- based Control algorithm using PD-action filtered errors has been used in order to Control the wheeled mobile robot. Non-Model-Based Controllers are always more appropriate than Model-Based algorithms due to independency from dynamic models, lower computational costs and also robustness to uncertainties. Asymptotic stability of the closed loop system for trajectory tracking Control of wheeled mobile robot has been investigated using appropriate Lyapunov function and also Barbalat’s lemma method. Finally, in order to show the effectiveness of the proposed approach simulation and experimental results have been presented. Obtained results show that without requiring a priori knowledge of plant dynamics, and with reduced computational burden, the tracking performance of the presented algorithm is quite satisfactory. Therefore, the proposed Control algorithm is well suited to most industrial applications where simple efficient algorithms are more appropriate than complicated theoretical ones with massive computational burden.

Objectives: Hypertension is the most common cause of stroke and kidney failure in the elderly and medication adherence is vital in Controlling complications. This study aims to determine the effect of the Johnson Model-Based program on medication adherence among the elderly with hypertension. Methods & Materials: The present study was a clinical trial that was performed on the elderly with hypertension referred to the Shahid Aval comprehensive health service center in Isfahan City, Iran. Through the convenience sampling method, 70 older adults were selected and randomly divided into intervention and Control groups. For the intervention group, 6 sessions of a family-based medication adherence program were performed based on the Johnson model. Demographic characteristics questionnaire and sphygmomanometer were used to collect data. Data were analyzed by SPSS version 22 statistical software using independent t test, Chi-square, and repeated measures analysis of variance (ANOVA). Results: No difference was observed between the two groups in terms of the distribution of demographic characteristics. Mean systolic and diastolic blood pressure before the intervention in the group were not significantly different, but immediately and three months after the intervention in the intervention group, it was significantly lower than the Control group(P<0. 05). Conclusion: Johnson's Model-Based program was effective in lowering hypertension in the elderly. Therefore, the method used in the present study is proposed to older adults and elderly care nurses as a simple, non-invasive, low-cost, and effective method of reducing hypertension.

A common method for Controlling a group of parallel converters in decentralized Control strategy structure in an island microgrid, the use is the droop-down characteristics of frequency ω-P and voltage E-Q. However, the problem with using this method is that the reactive power is not properly distributed (in proportion to the capacity of the micronutrients) between the micronutrients, which may lead to overload in the converters. Microgrids may also suffer from dynamic stability problems such as power fluctuations, which can be increased by switching between active and reactive power Control. To avoid this problem, the X / R ratio of transmission lines is an important parameter that should be carefully considered in the design of micronutrient Controllers. By linearizing and simplifying conditions, the Control system conversion function model becomes a single input-single output system, which is efficient enough to show the relationship between Control parameters such as slope of droop characteristics and derivative sentences, virtual impedance, and voltage Controllers. Using this model, stability conditions for different parameters are analyzed. Also, to improve power distribution stability, common droop strategies are modified by adjusting the slope as well as adding nonlinear sentence sections. This approach reduces the coupling between active and reactive power Control and reduces the dependence of power distribution on grid parameters such as the X / R ratio. To evaluate the reliability of the proposed model, the simulation results in a sample island microgrid in MATLAB software are presented.