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In the paper, we aim to design a controller for the four-rope-driven level-adjustment robot to adjust eccentric payload to level and keep the rope tension balanced. As the robot's actuators can only move in a certain range, it is necessary for the controller to judge whether the actuators' movement becomes constrained or not. Further, different control strategy should be taken to handle different...
This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the sliding surfaces is designed. The control law is deduced from the Lyapunov direct method. The stability of the inner sliding surfaces is proven. By fusing the priori knowledge about the class...
This paper presents a novel approach for speed governing of hydro-turbine by means of a sliding mode controller. For selecting a group of parameters of the sliding surface, genetic algorithm is employed to search these parameters. For decreasing the chattering problem of the sliding mode controller, a fuzzy interface system is harnessed to regulate the controller gain. To verify the feasibility and...
This paper mainly concerns the intelligent control of a four-rope-driven level-adjustment device with constrained outputs. In the paper, an intelligent controller based on fuzzy systems is designed for the device to adjust eccentric payloads to level and keep the rope's tension balanced. The controller is composed of two sub-controllers, each of which deals with various situations by choosing different...
To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, a cable-driven auto-leveling parallel robot is developed. A hierarchical fuzzy controller, which has the ability to deal with the rule explosion problem, is proposed in this paper. After a brief introduction of the architecture of the closed-loop control system for the cable-driven...
To solve the level-adjusting problem of high accurate and costly payloads when loading and unloading, a rope-driven self-leveling device is developed, and a neuro-fuzzy controller is proposed. After a brief introduction of the configuration characteristics of the device and the fundamentals of neuro-fuzzy control, the construction of the neuro-fuzzy controller is set up, in which the angles of two...
To reduce the computational burden of the type reduction block of interval type-2 fuzzy logic systems (IT2FLSs), this paper presents an efficient interval-analysis based type-reduction method to replace the most widely used center-of-sets (COS) type-reduction method which utilizes the iterative Karnik-Mendel algorithm. The relationships between the proposed type-reduction method and the COS type-reduction...
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