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In this paper, an electric unicycle system is constructed. Moreover, a model-free adaptive fuzzy control method is proposed for an electric unicycle system real time control. By the control scheme, the electric unicycle system is controlled without accurate system information. The parameters of fuzzy membership functions are adjusted online using the dynamic gradient descent method. In the end, the...
In this paper we present a robust controller based on Takagi-Sugeno (T-S) fuzzy model. First, we obtain the nonlinear state equation of the underactuated robot systems by linearization, then, the parallel distributed compensation scheme (PDC) is applied to design the controller. Simulation results show the robustness of the pendubot control system against the disturbance.
This paper describes a fuzzy control methodology for continuous passive motion equipment (CPM). The methodology combines fields such as artificial intelligence, through the fuzzy controller development; and control engineering, joining an optimization mechanism of movement with closed loop control. Following UML-MARTE profile is used to modeling the methodology. Based on system input/output and a...
In this paper, a fuzzy compensation (FC) technique along with the on-line system identification of two actuator systems of a one-wheel robot. Recursive least square (RLS) algorithm is used to identify the system with FIR-typed moving average filters for both a gimbal and a body system. To compensate for uncertainties in the modeling process, a fuzzy compensator is designed. Experimental studies of...
A novel design approach is proposed for indirect adaptive fuzzy decoupling control which is used in the lower limb exoskeleton. In the study, the fuzzy system is used to approximate the unknown system. Furthermore, in the lower limb exoskeleton, the coupling parameters are unknown as the disturbance values from the different subsystems. The paper proposes an reduced adaptive function to approximate...
Automated vehicles have drawn great attention in research and industry, due to their potential benefits in driving without passengers. Using computer simulation in motion and speed control of the vehicles can reduce errors and costs. Fuzzy logic provides a different way for issues that need to be controlled. This method is concentrated on what the system should do, not on how the works are done. Using...
In this paper, an adaptive fuzzy sliding mode control approach which combines fuzzy control with the sliding mode control, is applied for the tracking control of pneumatic muscle actuator (PMA). This actuator is widely used in the rehabilitation robots while hard to control due to its strong nonlinearity. The switching-type control term in the sliding mode control law is approximated by a fuzzy system...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical...
Based on Robot's intelligent behavior of exploring the unknown environment, a fuzzy controller is built to complete the local path planning. Because of walking around swing and going into local minima problems, a method based on particle swarm optimization for fuzzy controller is proposed. The method utilizes the PSO algorithm to optimize the threshold of the fuzzy membership functions thus the parameters...
To better solve the optimization problem of fuzzy neural network (FNN), a kind of method based on artificial fish swarm algorithm (AFSA) is proposed in this paper. Aiming at the structure optimization problem of FNN, AFSA-FNN1 is established and realizes the simplification of fuzzy rules. Aiming at the parameter optimization problem of FNN, AFSA-FNN2 is built and realizes the acquisition of parameters...
This article deals with a design of a fuzzy control system for robotic arm and its implementation to PLC. Fuzzy logic is used to calculate the proper speed of robot tool center point depending on the tilt of the joystick handle in manual operating mode. In fully automatic mode the fuzzy logic is used in form of a fuzzy PI controller to achieve the desired velocity with the load compensation. Fuzzy...
Optimal battery chargers for photovoltaic system based on Fuzzy theory and Taguchi method is presented. Applying Fuzzy theory to the battery charging systems, the charge time can be reduced and the charge efficiency can be improved. The Taguchi parameter design method is utilized to optimize the battery charging system for multistage constant current-constant voltage (MCC-CV) technique, and the results...
In this paper, we introduce the design of T-S fuzzy control for a model car via interval type-2 Takagi-Sugeno fuzzy logic system (IT2T-S FLS). Due to type-2 fuzzy system provides additional design degrees of freedom, which enhances the capability of model uncertainty. We combine the interval type-2 fuzzy set into T-S fuzzy and demonstrate the performance of T2 T-S FLS by showing the simulated results...
Generally, CMAC (Cerebellar Model Articulation Controller) is used for learning of robot action, because of high speed and low memories. However, results obtained by learning are hard to understand for human because they are numeric data. We research skill acquisition of an operator by using CMAC in our laboratory. In this research, we conducted the rule extraction by Fuzzy Neural Network (FNN) from...
An intelligent control of the automated highway system for the guidance of four wheeled vehicles is proposed. The control objective is to find one control law that can automatically guide the new-generation smart vehicles when driving in the highway under the effects of uncertain disturbance as wind gust, etc. We successfully propose one control law for designing the intelligent control of four wheeled...
This paper proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The dynamical model of the vehicle-LEGO Mind storms NXT is first established. Based on the model developed, an adaptive fuzzy controller is then illustrated. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence...
In order to overcome the inherent defects of the traditional artificial potential field, a new algorithm which has a fuzzy controller is adopted. In this algorithm, repulsive field is improved. Fuzzy logic controller is applicable, when there are only two fuzzy inputs and one output. A repulsive gain coefficient K is introduced to the repulsive potential function, which indicates the importance of...
Although there have been numerous research on balancing robot; however, limited studies have been carried out on the human transporter. Human transporter is an example of a non-linear system which is difficult to control. This paper examines and analyses on how to control a human transporter by using a fuzzy logic controller technique. The stabilization control of the human transporter is successfully...
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