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Adaptive fuzzy PID controllers, combining fuzzy controllers which are highly adaptable with conventional PID controllers which have no control error, have been used in vector control systems of permanent synchronous machines(PMSM). In this paper, an adaptive fuzzy PID controller of which membership functions are dramatically improved is designed and applied to a PMSM. Then, simulation in Simulink...
Robots can adapt strides according to ground conditions and walk stably in different environments. This study uses fuzzy logic control and Linear Quadratic Regulator (LQR) control theory on biped robot system to achieve the development of balanced and fast footsteps. Traditional controllers are designed according to mathematical models of physical systems, while fuzzy controller is a physical system...
This paper develop a named fuzzy switched multi-model algorithm for marine vessel. The rudder angle is used to divide the course changing process into multiple local operating regimes. The local controller is designed in local operating regime by using parallel distributed compensate method. The proposed algorithm can improve the global control performance in course-changing within wide range. The...
Optoelectronic pods hang on the moving vehicle. The vibration of carrier and wind resistance result in the instability of optical sensors and jitter of obtained video. To solve these problems, parameter self-tuning fuzzy-PID control has been used to improve the stability of control system and imaging quality. The experiment result shows that the control algorithm improves the effects of scanning and...
An 8-dof vehicle nonlinear dynamic model was established with the linear 2-dof vehicle handling characteristics model as the target control. The vehicle stability control system yaw and yaw rate combined fuzzy control simulation model was established based on automobile yaw moment and vehicle state deviation between the dynamic relationship. Through the hook simulation test, which shows that the active...
A novel current control method based on improved repetitive control (RC) and fuzzy reasoning immune feedback for single-stage single-phase grid-connected (SSSPGC) photovoltaic (PV) system is proposed. Low-pass filter with zero-phase-shift is employed for delay part of RC to make better tradeoff between robustness and performance. Then the compensation part based on linear lead compensation function...
Considering the disadvantages of the distribution system, which is made of the rotating machine and the mechanical transmission device, such as low positioning accuracy, vulnerable to load influence, this paper puts forward a new kind of distribution system consists of the permanent magnet linear synchronous motor (PMLSM), which is based on the fuzzy Proportional-Integral-Differential (PID) control...
In this paper a T-S Fuzzy model (which originates from Takagi and Sugeno) is used to design a fuzzy logic controller (FLC) for non-linear systems. Fuzzy logic control systems consist of a plant and a fuzzy logic controller. The output of the FLC is made by weighted average defuzzification method So, the output of the FLC is a function of the degrees of membership of the fuzzy rules, and these degrees...
In this paper conventional proportional-integral-derivative (PID) controller and different type of fuzzy logic controllers are used for controlling the inverted pendulum. The fuzzy logic controller is designed in various forms in the Matlab-Simulink environment with Mamdani type fuzzy inference system. The Inverted Pendulum system (also called “cart-pole system”) is a classic example of a nonlinear...
Research was conducted on vehicle stability control algorithm for four wheel drive (4WD) mini electric vehicle (EV) basing on vehicle dynamics model. The whole vehicle model with eight degrees of freedom was constructed using graphics modeling technology and S-function in MATLAB/Simulink, which includes 4 wheel rotation speeds, front wheel steering angle, vehicle lateral speed, longitudinal motion,...
This paper studies the stabilisation control problem of a robotic manipulator with input delays. To deal with the highly nonlinear dynamics of a robotic manipulator, the model-based Takagi-Sugeno (T-S) fuzzy control strategy is applied. With representing the nonlinear robotic manipulator model as a T-S fuzzy model, sufficient conditions for designing a controller such that the system is stabilised...
A fuzzy-neural network sliding mode control (FNNSMC) is proposed for the attitude stabilization of flexible spacecraft during large angle slew maneuver. The dynamic model of the spacecraft with flexible appendages is derived by Lagrange equation. To make the system state reach sliding mode surface in finite time, a sliding mode controller is designed, so the system is robustness against uncertainties...
In this paper, the absolute stability of a new class of Takagi-Sugeno (T-S) fuzzy Lurie control systems with multiple time-delays is investigated. By utilizing the Lyapunov stability theory and the linear matrix inequality (LMI) approach, a novel delay-dependent absolutely stable condition is derived. In addition, by using Simulink toolbox in MATLAB, a simulation example is provided to demonstrate...
In this paper, a 4 wheel steering vehicle (4WS) was used as a template and a vehicle was modeled (experimental) by using 2 degree of freedom system. The dynamics governing the Yaw behavior of a vehicle has been simulated with MATLAB/SIMULINK software. A controller, working by fuzzy logic was then designed. A relationship between front and rear angle of tires in different speeds and different front...
In this paper we propose a concept for building simulation algorithms for switched fuzzy control systems. Using these concepts we have shown the whole process of modeling, stability analysis and design of stabilizing switched fuzzy logic controllers for the hovercraft-vehicle, as a typical nonholonomic system. Using this typical nonholonomic system (the system is subject to constraints involving both,...
Many theoretical and experimental results have appeared recently on the stability of T-S fuzzy systems and the convergence of the Particle Swarm Optimization (PSO) algorithm. In this paper, we present a T-S fuzzy stochastic PSO model in which the PSO algorithm is viewed as a time-invariant linear plant with a time-varying feedback controller that is embedded in the T-S fuzzy state system. The randomly...
This paper describes the results of an application of a PDC type T-S fuzzy control to synchronous machine. The non linear mathematical model for the proposed synchronous machine adopted in this work is described by T-S continuous fuzzy models. Next, the control law for T-S fuzzy control based on PDC design is studied. The stability and the stabilisation of the whole closed-loop model are investigated...
This paper dedicated to investigate the integration of semi-active suspension and vehicle dynamics control system. Semi-active suspension (typically composed of a controlled damper and a passive spring) could improve the ride performance of vehicle by controlling the damper and spring. A vehicle dynamics control (VDC) system can enhance vehicle stability and handling in emergency situations through...
In this paper, we propose to estimate the individual in-cylinder air mass flow for a gasoline IC engine. In order to achieve this goal a periodic observer for a class of non-linear models in the discrete Takagi-Sugeno form is designed. The adopted framework to prove the stability of the observer is based on the Lyapunov theory and uses linear matrix inequalities (LMI) formalism. Some simulations and...
The paper presents an adaptive fuzzy predictive control based on discrete-time Takagi-Sugeno (T-S) fuzzy model. The proposed controller is based on Generalized predictive control (GPC) algorithm, and a discrete-time T-S fuzzy model is employed to approximate the unknown nonlinear process. To provide a better accuracy in identification of unknown parameters of the model, it is proposed an on-line adaptive...
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