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In this paper, a fractional order calculus based least mean square algorithm is proposed for complex system identification. The proposed algorithm, named as, fractional complex least mean square (FCLMS), successfully deals with the problem of complex error due to negative weights or complex input/output in the FLMS. For the evaluation purpose a complex linear system is considered. The FCLMS algorithm...
In this paper, we propose an adaptive framework for the variable step size of the fractional least mean square (FLMS) algorithm. The proposed algorithm named the robust variable step size-FLMS (RVSS-FLMS), dynamically updates the step size of the FLMS to achieve high convergence rate with low steady state error. For the evaluation purpose, the problem of system identification is considered. The experiments...
Although particle swarm optimization (PSO) in its standard form performs extremely well for less complicated convex optimization problems involving reduced search space, it fails in finding global optimal solutions for more complicated nonconvex optimization problems with multiminima functions, thus exploring the promising search space less efficiently to ensure solution with superior quality. Guaranteeing...
State convergence is a novel scheme to control a teleoperation system in a bilateral mode. Starting from modeling an $n^{\text {th}}$ order teleoperation system on state space, the scheme offers a simple and elegant procedure, which requires 3n+1 design conditions to be solved in order to synchronize the master and slave systems, and to achieve the desired dynamic behavior of the teleoperation system...
State convergence belongs to the class of non-passive schemes and offers a complete framework for bilaterally controlling the tele-robotic systems. Contrary to many other schemes, it allows modeling the tele-robotic systems on state space and provides guaranteed performance of their closed loop behavior. In this study, we have used the state convergence scheme to design a bilateral controller for...
This paper presents the bilateral control of nonlinear teleoperation system represented by Takago-Sugeno (TS) fuzzy models based upon the state convergence methodology. All features of state convergence method proposed for linear bilateral control including the provision of considering the master and slave systems modeled by nth order differential equations, achieving the desired convergence behavior...
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