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In the paper a new implementation algorithm for fuzzy controller is proposed. By applying an additional Petri-like transition layer, which identifies the current operation point, an significant reduction of computational effort is ensured. This allows to implement much more complicated fuzzy controller using simple microprocessor. As an hypothetical object a two-mass drive system is selected. The...
Driver is the decision-maker of vehicle's target behaviors actually. In the simulation of a Driver-Vehicle-Environment system, a driver model is essential to correct the steering wheel angle input in right time based on the road conditions. In this paper, a new driver model is introduced. Firstly, a real-time algorithm based on dynamic parameters of vehicle body is established to estimate body posture...
in this paper recurrent fuzzy neural network (RFNN) is used for speed tracking of nonlinear Dc motor. The RFNN posses both the advantages of fuzzy logic and neural networks, reasoning and learning, and have memory in its structures that act as a memory for store past information. Also, this controller acts as nonlinear and adaptive controller, too. Some simulation results are done for indicating the...
Research on intelligent transport systems (ITSs) is steadily leading to safer and more comfortable control for vehicles. Systems that permit longitudinal control have already been implemented in commercial vehicles, acting on throttle and brake. Nevertheless, lateral control applications are less common in the market. Since a too-sudden turn of the steering wheel can cause an accident in a few seconds,...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
Applications of switched reluctance motor (SRM) to direct drive robot are increasingly popular because of its valuable advantages. However, a greatest potential defect its torque ripple owing to the significant nonlinearities. In this paper, a fuzzy neural network (FNN) is applied to control the SRM torque at the goal of the torque-ripple minimization. The desired current provided by FNN model compensates...
This paper describes the development of a fuzzy control scheme for functional electrical stimulation, (FES)-assisted paraplegic walking with wheel walker. The simulation in this study starts with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. The humanoid model is designed based on anthropometric data. Two stimulated muscle models, quadriceps and...
This paper describes the effect of inclined track in an indoor rowing machine on the rowing exercise for paraplegics. The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). A model of the machine is developed using the Visual Nastran (Vn4D) software environment. Nine different...
This paper presents the intelligent control schemes for PM spherical stepper motor under the discrete stepping mode and continuous tracking mode. In the discrete stepping mode, a fuzzy inference system is used to predict the rotor orientation and perform the activation operation. Based on the non-linear system dynamic model under continuous trajectory tracking mode, the model reference adaptive control...
The purpose of this paper is to propose adaptive fuzzy sliding mode control (SMC) based on radial basis function neural network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN...
This paper deals with the nonlinear control of a lower limbs isokinetic rehabilitation device based on a Takagi-Sugeno modeling. A parallel distributed compensation control law is used to stabilize the closed-loop system in the whole operational space. The human force applied to the device's arm is considered as an external disturbance to the system dynamics. To attenuate this disturbance, an Hinfin ...
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