Adaptive neural network control of a robotic manipulator with unknown backlash-like hysteresis

This study proposes an adaptive neural network controller for a 3-DOF robotic manipulator that is subject to backlashlike hysteresis and friction. Two neural networks are used to approximate the dynamics and the hysteresis non-linearity. A neural network, which utilises a radial basis function approximates the robot's dynamics. The other neural network, which employs a hyperbolic tangent activation function, is used to approximate the unknown backlash-like hysteresis. The authors also consider two cases: full state and output feedback control. For output feedback, where system states are unknown, a high gain observer is employed to estimate the states. The proposed controllers ensure the boundedness of the control signals. Simulations are also performed to show the effectiveness of the controllers

Adaptive neural network cascade control system with entropy-based design

A neural network (NN) based cascade control system is developed, in which the primary PID controller is constructed by NN. A new entropy-based measure, named the centred error entropy (CEE) index, which is a weighted combination of the error cross correntropy (ECC) criterion and the error entropy criterion (EEC), is proposed to tune the NN-PID controller. The purpose of introducing CEE in controller design is to ensure that the uncertainty in the tracking error is minimised and also the peak value of the error probability density function (PDF) being controlled towards zero. The NN-controller design based on this new performance function is developed and the convergent conditions are. During the control process, the CEE index is estimated by a Gaussian kernel function. Adaptive rules are developed to update the kernel size in order to achieve more accurate estimation of the CEE index. This NN cascade control approach is applied to superheated steam temperature control of a simulated power plant system, from which the effectiveness and strength of the proposed strategy are discussed by comparison with NN-PID controllers tuned with EEC and ECC criterions

Novel Distance Measure in Fuzzy TOPSIS for Supply Chain Strategy Based Supplier Selection

In today’s highly competitive environment, organizations need to evaluate and select suppliers based on their manufacturing strategy. Identification of supply chain strategy of the organization, determination of decision criteria, and methods of supplier selection are appearing to be the most important components in research area in the field of supply chain management. In this paper, evaluation of suppliers is done based on the balanced scorecard framework using new distance measure in fuzzy TOPSIS by considering the supply chain strategy of the manufacturing organization. To take care of vagueness in decision making, trapezoidal fuzzy number is assumed for pairwise comparisons to determine relative weights of perspectives and criteria of supplier selection. Also, linguistic variables specified in terms of trapezoidal fuzzy number are considered for the payoff values of criteria of the suppliers. These fuzzy numbers satisfied the Jensen based inequality. A detailed application of the proposed methodology is illustrated