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This paper presents an intelligent adaptive motion control using fuzzy basis-function networks (FBFN) for a self-balancing two-wheeled transporter (SBTWT). A mechatronic system structure driven by two DC motors is briefly described, and its nonlinear mathematical modeling incorporating the friction between the wheels and the motion surface is derived. With the decomposition of the overall system into...
In this paper, an artificial neural network (ANN) based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online weights adaptation that provides asymptotic tracking while learning the nonlinear inverted pendulum system's dynamics. Unlike other control strategies, no a priori offline training,...
This paper deals with an adaptive friction compensation strategy based on the LuGre model for a pneumatically driven rodless cylinder. Due to their high dynamics, good force-to-weight characteristic, and their relatively small price pneumatic positioning systems offer an attractive alternative to electrical drives. However, pneumatic positioning systems also involve some difficulties like the nonlinear...
In this paper a brief survey is provided on a novel approach to adaptive nonlinear control developed at Budapest Te c h in the past few years. The most popular branches of the classical and novel adaptive approaches are analyzed in comparison with methods needing complete, accurate, and permanent models or applying only partial, incomplete, temporal, and situation-dependent ones that require continuous...
Direct yaw moment control generated by differential friction forces on an axle has been proved to be effective in improving vehicle lateral yaw stability and in enhancing handling performance. It consists of two levels of control tasks: calculating a yaw moment command at vehicle level and regulating the tire slip to deliver the moment at wheel level. Advanced powertrain with electrical in-wheel-motor...
This paper proposes model reference adaptive control (MRAC) for an integrated design of a voice coil motor and flexure mechanism to achieve a high-precision position. Based on the continuous deformation property of the flexure mechanism, the positioning system possesses linear motional characteristics without influence from the nonlinear phenomena of backlash and friction. MRAC controller design is...
In this paper, a grey neuro-adaptive control algorithm is suggested for Antilock Braking Systems (ABS). The concept of grey system theory, which has a certain prediction capability, offers an alternative approach to conventional control methods. A multilayer neural network and a grey predictor, GM(1,1) model, are combined in the approach proposed in the paper. The grey neural network controller is...
This paper presents an adaptive nonlinear control using radial-basis-function neural network (RBFNN) for an electric unicycle. A mechatronic system structure of the unicycle is constructed and its simplified mathematical modeling is then established by using Newtonian mechanics and incorporating the frictions between the wheel and the terrain surface. An adaptive nonlinear control together with RBFNN...
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