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A method for design of a hybrid neuro-fuzzy control system based on behavior modeling

Wei Li
1997 IEEE transactions on fuzzy systems  
Finally, the proposed method is used to design neuro-fuzzy controllers for a two-link manipulator.  ...  That implies that the fuzzy controller could yield a similar control result for a set of plants with a similar dynamic behavior.  ...  ACKNOWLEDGMENT The author would like to thank the referees for detailed and helpful comments.  ... 
doi:10.1109/91.554459 fatcat:ype5hgvmq5huvgthfbifuio4pa

Design Single Fuzzy Adaptive Controller for 4 DOF Medical Robots

Hossein Rashidi Bod, Farzin Piltan, Somayeh Jowkar, Amirzubir Sahamijoo, Ali Taghizadegan, Rouhollah Bahrami, Nasri. B Sulaiman
2016 International Journal of Control and Automation  
This research paper focuses on the design and analysis of a high performance adaptive PD like fuzzy computed Torque controller for second order nonlinear uncertain (medical robot manipulator) system, in  ...  To solve this challenge the PD fuzzy logic controller is used as a model-based PD like fuzzy computed torque controller.  ...  A controller (control system) is a device, which cans sense information from system to improvement the dynamic behavior of system based on actuation and computation.  ... 
doi:10.14257/ijca.2016.9.9.37 fatcat:eed7hwkakjbylpwmrqrq25rtsa

Novel Adaptive Fuzzy Inference Controller for Highly Nonlinear System

Atefeh Chahkoutahi, Mohammad Hossein Rahimi, Sirous Ashja, Mohammad Gholami, Mohammad Reza Moradipour
2014 International Journal of Hybrid Information Technology  
Fuzzy logic controllers have been applied in many applications. One of the important methods to solve above challenge is design adaptive controller based on fuzzy logic.  ...  Robot manipulators are multi inputs-multi outputs, nonlinear and time variant system, therefore control of this system is the main challenge in robotic science.  ...  One of the significant challenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g., robot manipulator).  ... 
doi:10.14257/ijhit.2014.7.6.18 fatcat:ypfg47o6pzalbnnb5tvtvtpuzu

Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System

Farzin Piltan, Mahdi Jafari, Mehdi Eram, Omid Mahmoudi, Omid Reza Sadrnia
2013 International Journal of Engineering and Manufacturing  
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works.  ...  Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) plus gravity controller is proposed for highly nonlinear continuum robot manipulator.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for their careful reading of this paper and for their helpful comments.  ... 
doi:10.5815/ijem.2013.01.04 fatcat:7oqsoz5ewjg4xpryzy5xxcfiui

Design Adaptive Fuzzy Inference Controller for Robot Arm

Mostafa Mirzadeh, Mohammad Haghighi, Saeed Khezri, Javad Mahmoodi, Hasan Karbasi
2014 International Journal of Information Technology and Computer Science  
Design robust controller for uncertain nonlinear systems most of time can be a challenging work. One of the most active research areas in this field is control of the robot arm.  ...  Therefore, stable control of a nonlinear dynamic system such as a robot arm is challenging because of some mentioned issues.  ...  One of the significant challenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g., robot manipulator).  ... 
doi:10.5815/ijitcs.2014.09.09 fatcat:habnujzxtjd3lbp5kfl76mfa3q

Design New Rule-based Effect Fuzzy Controller

Mina Mirzaie, Farzin Piltan, Nasri Sulaiman, Shahnaz Tayebi Haghighi
2014 International Journal of Advanced Science and Technology  
Rule base is one of the important key factors in design of fuzzy controller. The performance of the system is affected if nonlinear parameters are present in the system.  ...  A criterion is developed for selection of rule base depending on amount of type of system: nonlinearity, multi input-multi output, time variant.  ...  One of the significant challenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g., robot manipulator).  ... 
doi:10.14257/ijast.2014.72.01 fatcat:o6awhhgswzbtjltamepw2nvf5q

Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot

Farzin Piltan, Saleh Mehrara, Javad Meigolinedjad, Reza Bayat
2013 International Journal of Information Technology and Computer Science  
In this paper, a PD-serial fuzzy based robust nonlinear estimator for a robot manipulator is proposed by using robust factorization approach.  ...  Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot  ...  Acknowledgment The authors would like to thank the anonymous reviewers for their careful reading of this paper and for their helpful comments.  ... 
doi:10.5815/ijitcs.2013.11.12 fatcat:rpyxe5yv5vgdrbtu5qpcox7zkm

2019 Index IEEE Transactions on Cognitive and Developmental Systems Vol. 11

2019 IEEE Transactions on Cognitive and Developmental Systems  
., +, TCDS Dec. 2019 517-526 Fuzzy control Fused Fuzzy Petri Nets: A Shared Control Method for Brain-Computer Interface Systems.  ...  ., +, TCDS March 2019 85-94 Fused Fuzzy Petri Nets: A Shared Control Method for Brain-Computer Interface Systems.  ... 
doi:10.1109/tcds.2020.2967228 fatcat:6holx3xlrjdjnf5nedahp4fl6m

Comparison of Neural Network and Fuzzy Logic Control for Nonlinear Model of Two Link Rigid Manipulator

Narinder Singh, Bharti Panjwani
2014 International Journal of Control and Automation  
A new intelligent scheme based on fixed stabilization technique is proposed in this paper for controlling the system.  ...  A model with multiple inputs and multiple outputs is considered to simulate two links rigid manipulator. Its mathematical model is obtained by using Euler's Lagrange method.  ...  of fuzzy controlled system Figure 9 ( 9 a).  ... 
doi:10.14257/ijca.2014.7.4.38 fatcat:iwbfo2wimrcwtoj2xd3lhgzzvq

Tuning New Fuzzy Control for Nonlinear Second Order System

Babak Ranjbar, Gholam Dashti, Ali Omidvar, Javad Mahmoodi, Hasan Karbasi
2014 International Journal of Hybrid Information Technology  
Fuzzy logic controller (FLC) is an influential nonlinear controller to certain and uncertain systems which it is based on artificial intelligent and computes the required torques using the nonlinear feedback  ...  Practically a large amount of systems have uncertainties accordingly this method has a challenge.  ...  method which, it is based on the behavior of the control of robot manipulator.  ... 
doi:10.14257/ijhit.2014.7.6.15 fatcat:mtqbgwvmvrbvbnx5j5tgwuqj5u

Bacterial Foraging Optimized Hybrid Fuzzy Precompensated PD Control of Two Link Rigid-Flexible Manipulator

Srinivasan Alavandar, Tushar Jain, M. J. Nigam
2009 International Journal of Computational Intelligence Systems  
The results presented emphasize that a satisfactory tracking precision could be achieved using hybrid Fuzzy Precompensated PD controller with bacterial foraging based optimization. ch c M J J ch s sh c  ...  This paper presents the social foraging behavior of Escherichia coli bacteria to optimize hybrid Fuzzy Precompensated Proportional -Derivative (PD) controller in trajectory control of two link rigid-flexible  ...  In this work, a novel fuzzy logic-based precompensation approach for controlling system with high nonlinearity is attempted.  ... 
doi:10.1080/18756891.2009.9727639 fatcat:lbpkcxmkf5hizblshnotxbqlzq

Layered mode selection logic control with fuzzy sensor fusion network

Traig Born, Andrew Wright, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2007 Unmanned Systems Technology IX  
The LMSL architecture is an implementation of a behavior based controller fused with a planner.  ...  The architecture creates an abstraction layer for the robot sensors through a Fuzzy Sensor Fusion Network (FSFN), and it creates an abstraction layer for the robot manipulators through a reactive layer  ...  The authors acknowledge Armand Tomany for the mechanical design and fabrication of the original J5 robot. Mr.  ... 
doi:10.1117/12.718707 fatcat:gxzvsapwxrhddo7uvpwnh6rm3m

Novel Intelligent-Based Gravity Control for Industrial Robot Arm

Abdol Reza Babakhani, Esmail Moradi, Mohammad Salooki, Rouholla Fakhraie
2015 International Journal of Hybrid Information Technology  
According to this research, a new intelligent-based parallel gravity controller is proposed for industrial robot arm.  ...  All model-base conventional controllers are related to dynamic model of systems especially in uncertain systems.  ...  This technique was employed to obtain the desired control behavior with a number of information about dynamic model of system and a parallel fuzzy control was applied to reinforce system performance.  ... 
doi:10.14257/ijhit.2015.8.1.10 fatcat:73j635653bc7ngbpacfxanh6qi

Interpreting Fuzzy Linguistic Information by Acquiring Robot's Experience Based on Internal Rehearsal

A. G. Buddhika P. JAYASEKARA, Keigo WATANABE, Kazuo KIGUCHI, Kiyotaka IZUMI
2010 Journal of System Design and Dynamics  
The proposed system is used to evaluate the fuzzy linguistic information related to primitive movements of a robot manipulator.  ...  Those primitive movements are realized by a behavior evaluation network (BEN) with the guidance of an internal rehearsal system.  ...  Journal of System Design and Dynamics Posture movements Posture control of a robot manipulator was performed based on a set of primitive behaviors.  ... 
doi:10.1299/jsdd.4.297 fatcat:hvsdkzb5drfqvpk264jnxcbdeu

2004 Index

2004 IEEE transactions on fuzzy systems  
Euntai Kim, T-FS Jun 04 368-378 Manipulators fuzzy behavior prog., robotic excavation, agent-based control.  ...  Road vehicles Velocity control mobile robots, fuzzy behavior-based control.  ...  Nonlinear systems adaptive fuzzy/neural controllers for nonlin. discrete-time systs., stable auto-tuning. Nounou, H.N  ... 
doi:10.1109/tfuzz.2004.841616 fatcat:7rpsflabmfhyno5cya3wrp6a7i
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