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This paper makes full use of the invariance of the sliding mode control and the real-time and adaptive characteristics of fuzzy CMAC. FCSMC (Fuzzy CMAC sliding mode controller) is proposed. The control target is to achieve reaching condition of sliding mode control becoming zero by the adjustment scheme of the fuzzy CMAC network parameters such as weight, center values. Coupled tank liquid control...
This paper considers the relative position control of the Line-of-Sight (LOS) based relative motion model, which is highly complicated and strongly coupling nonlinear with the matched disturbance. By employing a novel nonsingular fast terminal sliding mode (NFTSM) surface, the adaptive control law is designed to guarantee the bounded stability of the closed-loop error system without prior knowledge...
Greenhouse climate is difficult to model as a complex nonlinear system. The solution to the problem of describing the relation between inputs and outputs is using T-S fuzzy modeling which could transform a nonlinear system into several linear systems. During the transition, c-means clustering is used to cluster the variable of inputs and outputs. The result of clustering determines the compose of...
In this paper, a model independent PD with sliding mode control (PD-SMC) method for the bionic eye system is proposed. The designed controller is model independent, and has the advantages of both simple structure, easy design of PD controller and strong robustness of SMC method with respect to system parameter uncertainty. Lyapunov techniques and LaSalle's invariance theorem are used to support the...
Failures exist ubiquitously in physical actuators, which usually are uncertain in time, pattern, and value. This effect would deteriorate system tracking performance, and even trigger instability. In this paper, we consider the problem of compensating for actuator failures by proposing a fuzzy control scheme for stochastic nonlinear systems. Comparison with existing research on stochastic nonlinear...
In this paper, an adaptive integrated guidance and control(IGC) law is proposed for the missile intercepting the maneuvering target with impact angle constraint. Considering the parameter uncertainties, a new IGC model is established. Subsequently, the dynamic surface control and adaptive technique are combined to design the adaptive IGC law. Finally, the simulation results are provided to verify...
Moving object tracking with discriminative model is very popular in recent years, which focuses on online selecting highly informative features to maximize the separability between object and background. An adapted particle filter tracker with online learning and inheriting discriminative model is proposed in this paper. Top-ranked discriminative features are selected into appearance model by Online...
State-of-charge (SOC) estimation methods based on battery model rely heavily on the accuracy of model parameters. And these parameters could vary with environment and the types of batteries. Online battery modeling methods can improve the robustness of SOC estimation algorithms through updating model constantly with real-time data. These methods have far more profound significance on algorithm adaptability...
To construction effective simulation meta-models for complex physical simulation system, the “curse of dimension” and the “uncertain and imprecise information” problems have to be addressed firstly. Although simulation meta-models based on neural networks can obtain well performance, the fuzzy inference mechanism of domain expert for practical application problems cannot be simulated. Thus, some prediction...
Bayesian optimization has been demonstrated as an effective methodology for the global optimization. However, it suffers from a computational bottleneck that the inference time grows cubically with the number of observations. In this paper, a Bayesian optimization based on the data-parallel approach is proposed to alleviate this problem. Firstly, an improved geometry motivated clustering algorithm...
Research results in neurophysiology show the predictive nature of vergence eye movement, vergence eye movement can persistently track a moving target which shifts in distance relative to the head. Few models have attempted to consider prediction of target motion in vergence models. Most models only considered static targets, their input are frozen driving signals. In this paper, a model with estimator...
In order to adapt to the complicated and changeable topography environment features of the seabed, a composite wheeled submarine vehicle with both passive and passive hybrid obstacle negotiation model is proposed in this paper. Taking the composite wheeled seabed mining vehicle as the object of study, the features of seabed unstructured terrain environment are extracted, and the process of adaptive...
This paper proposes a novel adaptive synchronization approach for a class of nonlinear large-scale systems via T-S fuzzy model. It is known that the practical large-scale systems are very complicated with nonlinear coupling strength between every two subsystems, thus the classical linear control methods are invalid for them. To overcome this deficiency, we employ the T-S fuzzy model in this paper...
In view of the limitation of the traditional PID controller in the processing of nonlinear time-varying systems, a neuron adaptive PID control algorithm is proposed. Based on the traditional PMSM speed control, the neuron adaptive PID control method is adopted, using the Hebb learning algorithm, the error square is used as the performance index to adjust the parameters online in order to realize the...
In this paper, the tracking control for a mechanical system with friction and backlash is considered. Friction and backlash nonlinearities often act on the main obstacles for high precision control. Based on the LuGre friction model and the Backlash model, a robust adaptive control algorithm is developed to compensate for friction and backlash nonlinearities by using backstepping design techniques...
Biomimetic robotic fish has potential applications in underwater tasks. To control its swimming, Center Pattern Generator (CPG) models are widely used in its locomotion controllers. The CPG model can generate multiple swimming patterns with the same CPG network. However, there are many parameters to be tuned in a CPG model. In this paper, a parameter optimization method based on particle swarm optimization...
This paper develops an adaptive fault tolerant controller, based on a novel K-filters, to address tracking control problem of a class of nonlinear systems. With the help of fuzzy logic systems, a novel K-filters is proposed to estimate the unmeasured system states. It is proved that the developed controller can guarantee all the signals are bounded and the output tracks a given signal to a neighborhood,...
Since the hot metal silicon content simultaneously reflects the product quality and the thermal state of the blast furnace, its modeling is crucial and representative. Although many models have been proposed, there is little research on the inputs of hot metal silicon content model. Accurate selection of model inputs is critical to model accuracy. This paper focuses on inputs screening for hot metal...
This paper proposes a model reference adaptive sliding mode control scheme for switched linear system. The reference system is also designed as switched system. By feedback the tracking error between the switched system and the switching linear system, the plant system can track its desired dynamic responses. Also, to improve the robustness and anti-disturbance capacity, the sliding mode controller...
In this paper, sampled-data control is considered for the attitude control of nonlinear spacecraft control systems. We mainly study a linearized spacecraft model i.e. the linearized inertial pointing spacecraft model. Moreover, it is shown that designed controller globally stabilizes the nonlinear space-craft system, and locally optimizes the spacecraft performances. The simulation results demonstrate...
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