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In this paper a comparative analysis of Mamdani and Sugeno type fuzzy autopilots for ships is given. Both autopilots have two inputs: the heading signal and the yaw rate signal, and only one output: command rudder angle. Input variable fuzzification, fuzzy associative memory (FAM) rules, and output set defuzzification are described. The control system for the course-keeping composed of the nonlinear...
This paper explains the whole process of a system design for the remote control of a stepper motor via web server. For this purpose a hardware structure is fully designed and implemented. Two types of communications were used to operate with the stepper motor. The first is realized by serial RS-232 protocol and the second one uses TCP/IP protocol for remote control. The TCP/IP protocol provides communication...
This paper presents a design of fuzzy logic control for 2DOF laboratory helicopter model (Humusoft CE 150) which represents a nonlinear and highly cross-coupled system. The controller is composed of two fuzzy logic controllers for azimuth and elevation controls. The main objective of the paper is to obtain robust and stable controls for wide range of azimuth and elevation angles changing during the...
This paper demonstrates the effectiveness of a genetic algorithm in identification of the unknown parameters of a nonlinear 2DOF laboratory helicopter model. The mathematical model of physical structure of the helicopter has fourteen unknown parameters which are necessary to be identified. For identification of this model a genetic algorithm is chosen because it enables finding referent results using...
In this paper we proposed the new concept which significantly decreases the development and implementation costs of standard SCADA systems. This system, as any other SCADA system, consists of MTU and RTU. This new concept is designated as PtP SCADA or PC-to-PC SCADA. The main approach to achieve several benefits is based on the idea to place standard PC configuration on both MTU and RTU sides of communication...
The purpose of this paper is to analyse and implement PI control for the permanent magnet DC motor. The control algorithm is realised using Siemens S7-200 programmable logic controller (PLC). The complex motor system is composed of DC motor, driver and tachogenerator. The main objective is to achieve a satisfactory time response of the system output under disturbances like death zone, nonlinearity,...
Market based approach (MBA) provides communication and coordination for robots in a virtual economy in which they can exchange tasks and resources for payment. Furthermore, trades are enabled via market mechanisms such as auction protocols in which an auctioneer is able to determine the robots best capable of achieving the tasks being offered. In this paper we purpose a modification of MBA for task...
This paper presents a design of the fuzzy logic control for a permanent magnet DC motor. The main objective is to achieve a robust controller under disturbances and unmodeled dynamics acting, such as load torque, dead zone, measurement noise and nonlinearities. The whole system contains the DC motor, driver, tachogenerator, external load and microprocessor based system (dSPACE CLP1004). This system...
This paper develops a fuzzy logic position controller which membership functions are tuned by genetic algorithm. The main goals are to ensure both successfully velocity and position trajectories tracking between the mobile robot and the reference cart. The proposed fuzzy controller has two inputs and two outputs. The first input represents the distance between the mobile robot and the reference cart...
The teleoperation (telerobotic) systems often face two key challenges: the existence of communication delays between the master and slave site as well as the addition of force feedback to improve the user's sense of presence. The first goal of this paper is that the slave manipulator should track the position of the master manipulator and the second goal is that the environmental force acting on the...
This paper proposes a new reactive planning algorithm for mobile robot navigation in unknown environments. The overall navigation system consists of three navigation subsystems. The lower level subsystem deals with the control of the linear and angular velocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot is in the medium level, and it...
In this paper we proposed a new stable control algorithm for mobile robot trajectory tracking. The stability conditions are guaranteed by Lyapunov theory. The control parameters of backstepping algorithm are adjusted using genetic algorithm. Some of them are represented by unknown functions which are generated by neural network. The performance of the proposed controller is investigated using a kinematic...
This paper proposes computationally efficient artificial neural network models for identification of both fuzzy logic ship controller and nonlinear ship model. The first objective demonstrates how to use a nonlinear network to identify the fuzzy controller and compare control surfaces of these two controllers as well as performance indices. The second objective is to use the nonlinear network to identify...
We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for...
This paper proposes the usage of the fuzzy logic for both position control and stabilization of current pulsations. The aim is to ensure precise control of the joint motion position with very quickly joints movements. The block diagram of a control system involves controller, actuator, robot and appropriate sensors. Each of these components is described. The dynamic model of a manipulator is based...
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