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This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed...
This paper uses value gradient learning (VGL) to track a reference trajectory under uncertainties, by computing the optimal left and right torque values for a nonholonomic mobile robot. VGL is a high-performance algorithm in adaptive dynamic programming (ADP). Here, it is used as a critic function after fitting a first-order Sugeno fuzzy neural network (FNN) structure to critic and actor networks...
Most current variable structure control methods need complex calculation of manipulator sliding mode's control parameters. To solve this problem, we can divide the manipulator model into certain and uncertain two parts in this paper. The certain part is regared as a nominal model, we designs the state feedback controller to controll it. For uncertain part of the system, this paper uses variable structure...
The experimental results for the implementation of a fuzzy tracking controller on a macro-micro manipulator (M3) are shown and compared to those of a joint-PD controller. The test bed is a nonlinear nonminimum-phase MIMO system with a complex dynamic model and pronounced joint frictions. The controller belongs to a class of fuzzy controllers based on Lyapunov-function reasoning. The control strategy...
This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical...
This paper presents new computationally efficient and easy to tune attitude control of a four rotor helicopter called quadrotor. Short description of quadrotor concept and control framework is given and the segment of inner attitude control of the aircraft is addressed. Proposed fuzzy proportional - differential (PD) control structure utilizes Sugeno fuzzy engine, with simple intuitive set of rules...
In this paper, we introduce the design of T-S fuzzy control for a model car via interval type-2 Takagi-Sugeno fuzzy logic system (IT2T-S FLS). Due to type-2 fuzzy system provides additional design degrees of freedom, which enhances the capability of model uncertainty. We combine the interval type-2 fuzzy set into T-S fuzzy and demonstrate the performance of T2 T-S FLS by showing the simulated results...
Many research efforts have been made to develop the slider-crank mechanism. Design of a genetic-fuzzy inverse controller for a slider crank mechanism with the piston cylinder drive is studied. This mechanism converts the translating motion into rotating motion. In this approach, the computed torque is implemented to obtain high speed and precise position tracking also; compensation of unknown uncertainties...
In the paper, based on the finite -gain property, a way of estimating learning errors for direct adaptive fuzzy control systems is proposed, and then, a novel adaptive law with this estimated learning error is further proposed to improve the learning performance of the system in the sense of Lyapunov. In the literature, there is no direct way of estimating learning errors for direct adaptive fuzzy...
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 study, a fuzzy control policy is presented for dynamic walking of a biped robot that is modeled as a simulated five-link biped robot. Due to complex ground contact models, it is difficult to precisely model its dynamics. Besides, a spring/damper ground model and a simplified inverted pendulum model are presented to represent the ground contact relation and the approximated model of biped robots...
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced...
In this paper a robust control scheme is proposed for the generalized projective chaos synchronization between two identical rotational simple pendulum (RSP) systems subjected to external disturbance. By the Lyapunov stability theory with control terms, a suitable sliding surface is proposed to ensure the stability of the controlled closed-loop system in sliding mode. When the bound of external disturbance...
In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous...
A fuzzy direct adaptive control strategy is proposed for the trajectory tracking control of robotic manipulators. Different to the traditional fuzzy adaptive control method, a generalized hyperbolic model is used to be the fuzzy basis function. The input generalized variables of the fuzzy logic system, derived from the input variables after their transformation, can cover with the whole input space...
This paper presents a 9-degree of freedom (DOF) vehicle model combined with a closed loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses the lookup table path as a reference for the control input. The proposed outer-loop controller structure for the driver model is a combination of proportional gain control...
In this paper, a T-S fuzzy modeling and tracking control method is proposed for wheeled mobile robots by using T-S fuzzy linearization approach. The proposed method has advantages in that the linear control theories can be used for the tracking control of wheeled mobile robots after linearization of them. The local linear models are converted into controllable canonical forms respectively and then...
Trajectory tracking of the mobile robot is one research hot for the robot. For the control system of the two-wheeled differential drive mobile robot being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. A new control scheme combined with the fuzzy PD (Proportional and Differential) control and...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
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...
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