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Robust Adaptive Neural-Fuzzy Network Tracking Control for Robot Manipulator

ThanhQuyen Ngo, YaoNan Wang, T. Long Mai, M. Hung Nguyen, Jun Chen
2014 International Journal of Computers Communications & Control  
This paper presents a robust adaptive neural-fuzzy network control (RANFNC) system for an n-link robot manipulator to achieve the highprecision position tracking.  ...  The merits of this model-free control scheme are that not only the stable position tracking performance can be guaranteed but also unknown system information and auxiliary control design are required in  ...  of China (863 Robust Adaptive Neural-Fuzzy Network Tracking Control for Robot Manipulator 351  ... 
doi:10.15837/ijccc.2012.2.1414 fatcat:wskp24t5grapbaqnuh2n5faoca

A fuzzy-PDC-based control for robotic systems

C.M. Lin, Y.J. Mon
2001 Information Sciences  
In this paper, the nonlinear-regulator developed here is further expanded and combined with the PD control approach, in order to investigate the position and tracking control of a two-link robot.  ...  A multi-input multi-output nonlinear-regulator design methodology, developed by the fuzzy-parallel-distributed-compensation (fuzzy-PDC) scheme, has been presented here.  ...  For instance, the PD control approach has been developed for the position control [1] , the adaptive fuzzy control algorithm has been derived to reduce the tracking errors [2] , the neural-network methodology  ... 
doi:10.1016/s0020-0255(01)00105-0 fatcat:qgfnkj3hq5aufhexfpu4hy6s5u

Adaptive MIMO Supervisory Control Design Using Modeling Error

Zhi-Ren Tsai, Yau-Zen Chang
2015 Mathematical Problems in Engineering  
The scheme is composed of an inner-level adaptive fuzzy PD control law and an outer-level supervisory control law.  ...  This paper proposes an adaptive control scheme for nonlinear systems with significant nonminimum phase dynamics.  ...  First, an adaptive fuzzy-model-based PD control scheme is designed at the inner level to achieve robust output tracking.  ... 
doi:10.1155/2015/645168 fatcat:lwg3kccygbehdo4neg4tzzdb6m

Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators

Fuchun Sun, Zengqi Sun, Lei Li, Han-Xiong Li
2003 Fuzzy sets and systems (Print)  
This paper presents a stable neuro-fuzzy (NF) adaptive control approach for the trajectory tracking of the robotic manipulator with poorly known dynamics.  ...  Secondly, based on the derived fuzzy dynamics of the robotic manipulator, the dynamic NF adaptive controller is developed to improve the system performance by adaptively modifying the fuzzy model parameters  ...  This paper is to develop the stable adaptive control based on dynamic NF systems for the trajectory tracking of the manipulator with poorly known dynamics.  ... 
doi:10.1016/s0165-0114(02)00233-6 fatcat:w3xlff2uwfc2jf4i6woolf4xey

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

Mohammad Mehdi Fateh, Sara Fateh
2013 International Journal of Automation and Computing  
The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability.  ...  Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge.  ...  Thus, robust and adaptive techniques are suggested. Adaptive fuzzy controllers may fulfill this role due to their ability to adapt with changing environment and model uncertainty.  ... 
doi:10.1007/s11633-013-0697-x fatcat:kpat5ytcynfrtneexxgwka4sia

Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization

Farzin Piltan, Mansour Bazregar, Mehdi Akbari, Mojdeh Piran
2013 International Journal of Advances in Applied Sciences  
The asymptotic stability of fuzzy PD management with first-order sliding mode optimization in the parallel structure is proven.  ...  For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.  ...  remain error of fuzzy PD such that the final tracking error is asymptotically stable [18] .  ... 
doi:10.11591/ijaas.v2i4.2263 fatcat:cbflyuymvzdlveuv2abn3jkism

Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization

Mansour Bazregar, Farzin Piltan, Mehdi Akbari, Mojdeh Piran
2013 International Journal of Information Technology and Computer Science  
The asymptotic stability of fuzzy PD management with first-order sliding mode optimization in the parallel structure is proven.  ...  For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.  ...  remain error of fuzzy PD such that the final tracking error is asymptotically stable [18] .  ... 
doi:10.5815/ijitcs.2014.01.12 fatcat:5pdvckpqhreyvel6tgkoeuvsqy

Compensatory neuro-fuzzy control of bilateral teleoperation system

R. Mellah, R. Toumi
2015 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)  
In this paper a new adaptive controller using compensatory neurofuzzy is presented to guarantee the position and force tracking performance between the master and the slave manipulators.  ...  the adaptive fuzzy reasoning for acceleration the asymptotically convergence to zero the trajectory tracking error between the master and the slave robots.  ...  Motion tracking performance with PD controllers Fig. 6 . 6 Toque error behavior with PD controllers Fig.7. Motion tracking performance with PD controllers Fig.8.  ... 
doi:10.1109/mmar.2015.7283906 dblp:conf/mmar/MellahT15 fatcat:h4dmjjgq6nb7fmultb5m4qnclq

Adaptive PD-SMC for Nonlinear Robotic Manipulator Tracking Control

Tolgay KARA, Ali Hussien MARY
2017 Studies in Informatics and Control  
This paper presents an adaptive and robust control scheme, which is based on Sliding Mode Control (SMC) accompanied by Proportional Derivative (PD) control terms for trajectory tracking of nonlinear robotic  ...  Two important features make the proposed control method more suitable for tracking control of robotic manipulators in comparison with SMC.  ...  system in (1) with the control law in (26) is asymptotically stable with tracking error signal and its derivative converging to zero.  ... 
doi:10.24846/v26i1y201706 fatcat:dz2npmdys5glfdawf7eirsrmpe

Self-learning PID Control for X-Y NC Position Table with Uncertainty Base on Neural Network

Hu Xiaoping, Wang Chao, Zhang Wenhui, Ma Jing
2014 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
Wei [18] , Ma [19] put forward fuzzy adaptive control scheme, but there are too many rules of fuzzy logic to be designed, the calculation with the number of rules increase the calculation burden.  ...  If rules are too little, the fuzzy adaptive control scheme can't ensure the control accuracy.  ...  Neural network PID controller still can guarantee the precise tracking speed at about t = 4s. Control moment is not big , as can be shown from the Figure 5 .  ... 
doi:10.12928/telkomnika.v12i2.73 fatcat:aow4l3y5nzfvji6k4p45erlo6u

Self-learning PID Control for X-Y NC Position Table with Uncertainty Base on Neural Network

Hu Xiaoping, Wang Chao, Zhang Wenhui, Ma Jing
2014 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
Wei [18] , Ma [19] put forward fuzzy adaptive control scheme, but there are too many rules of fuzzy logic to be designed, the calculation with the number of rules increase the calculation burden.  ...  If rules are too little, the fuzzy adaptive control scheme can't ensure the control accuracy.  ...  Neural network PID controller still can guarantee the precise tracking speed at about t = 4s. Control moment is not big , as can be shown from the Figure 5 .  ... 
doi:10.12928/telkomnika.v12i2.2112 fatcat:7kbqb2lpcrabvgxwv36fy7psem

Adaptive Fuzzy Sliding Mode Control for the Probe Soft Landing on the Asteroids with Weak Gravitational Field

Yuanchun Li, He Wang, Bo Zhao, Keping Liu
2015 Mathematical Problems in Engineering  
The designed adaptive law and robust item make the closed-loop control stable and the tracking errors are convergent to zero.  ...  For the trajectory control of the probe soft landing on the asteroids with weak gravitational field, this paper presents a combined integral sliding mode control with an adaptive fuzzy logic system, named  ...  In other words, the designed control law can guarantee that (1) the closed-loop system is stable, and all signals are uniformly bounded; (2) tracking error ( = 1, 2, 3) converges to the equilibrium point  ... 
doi:10.1155/2015/582948 fatcat:3rkv6ogcjvc4bfq7f6ycjqwuiu

Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Yi-Hsiang Tseng, Chung-Cheng Chen, Chung-Huo Lin, Yuh-Shyan Hwang
2013 Mathematical Problems in Engineering  
The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state  ...  The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach.  ...  After applying feedback linearization controller as a guarantee of uniform ultimate bounded stability, the fuzzy controller can be significantly utilized to obtain the better convergence rate of tracking  ... 
doi:10.1155/2013/504541 fatcat:cchepdd32vg3xdejqnyiqzregu

Backlash compensation of nonlinear systems using fuzzy logic

Jun Oh Jang, Gi Joon Jeon
2006 International Journal of Systems Science  
A tuning algorithm is given for the fuzzy logic parameters, so that the backlash compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates.  ...  Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic backlash compensator is simulated on a nonlinear system to show its efficacy.  ...  A rigorous design procedure with proofs is given that results in a PD tracking loop with an adaptive fuzzy logic system in the feedforward loop for backlash compensation.  ... 
doi:10.1080/00207720600774198 fatcat:it7ydvifvzhcrf6c2tzwyj4l3q

Page 3036 of Mathematical Reviews Vol. , Issue 94e [page]

1994 Mathematical Reviews  
The new MRAC scheme guarantees signal bounded- ness and zero residual tracking error.  ...  Furthermore, in the case of partially unknown plant parameters, we show that the adaptive controller obtained by combining this control law with a suitable estimation algorithm guarantees closed-loop boundedness  ... 
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