104,343 research outputs found

    Improvement of flight simulator feeling using adaptive fuzzy backlash compensation

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    In this paper we addressed the problem of improving the control of DC motors used for the specific application of a 3 degrees of freedom moving base flight simulator. Indeed the presence of backlash in DC motors gearboxes induces shocks and naturally limits the flight feeling. In this paper, dynamic inversion with Fuzzy Logic is used to design an adaptive backlash compensator. The classification property of fuzzy logic techniques makes them a natural candidate for the rejection of errors induced by the backlash. A tuning algorithm is given for the fuzzy logic parameters, so that the output backlash compensation scheme becomes adaptive. The fuzzy backlash compensator is first validated using a realistic model of the mechanical system and is actually tested on the real flight simulator

    Optimization of DC - DC boost converter using fuzzy logic controller

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    DC-DC converters are electronic devices used to change DC electrical power efficiently from one voltage level to another. Operation of the switching devices causes the inherently nonlinear characteristic of the DC-DC converters including one known as the Boost converter. Consequently, this converter requires a controller with a high degree of dynamic response. Proportional-Integral- Differential (PID) controllers have been usually applied to the converters because of their simplicity. However, the main drawback of PID controller is unable to adapt and approach the best performance when applied to nonlinear system. It will sufer from dynamic response, produces overshoot, longer rise time and settling time which in turn will influenced the output voltage regulation of the Boost converter. Therefore, the implementation of practical Fuzzy Logic controller that will deal to the issue must be investigated. Fuzzy logic controller using voltage output as feedback for significantly improving the dynamic performance of boost dc-dc converter by using MATLAB@Simulink software. The design and calculation of the components especially for the inductor has been done to ensure the converter operates in continuous conduction mode. The evaluation of the output has been carried out and compared by software simulation using MATLAB software between the open loop and closed loop circuit between fuzzy logic control (FLC) and PID control. The simulation results are shown that voltage output is able to be control in steady state condition for DC-DC boost converter by using this methodology. Scope of this project limited only one types that is Triangle membership function for fuzzy logic control

    A Novel Fuzzy Logic Based Adaptive Supertwisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems

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    This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the proposed controller is well suited for simple design and implementation. The effectiveness of the proposed controller over the first order Sliding Mode Fuzzy Logic controller is illustrated by Matlab based simulations performed on a DC-DC Buck converter. Based on this comparison, the proposed controller is shown to obtain the desired transient response without causing chattering and error under steady-state conditions. The proposed controller is able to give robust performance in terms of rejection to input voltage variations and load variations.Comment: 14 page

    Incorporating the Basic Elements of a First-degree Fuzzy Logic and Certain Elments of Temporal Logic for Dynamic Management Applications

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    The approximate reasoning is perceived as a derivation of new formulas with the corresponding temporal attributes, within a fuzzy theory defined by the fuzzy set of special axioms. For dynamic management applications, the reasoning is evolutionary because of unexpected events which may change the state of the expert system. In this kind of situations it is necessary to elaborate certain mechanisms in order to maintain the coherence of the obtained conclusions, to figure out their degree of reliability and the time domain for which these are true. These last aspects stand as possible further directions of development at a basic logic level. The purpose of this paper is to characterise an extended fuzzy logic system with modal operators, attained by incorporating the basic elements of a first-degree fuzzy logic and certain elements of temporal logic.Dynamic Management Applications, Fuzzy Reasoning, Formalization, Time Restrictions, Modal Operators, Real-Time Expert Decision System (RTEDS)

    Intelligent manipulation technique for multi-branch robotic systems

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    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

    Power management controller for hybrid electric vehicle using fuzzy logic

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    This paper presenting a study on hybrid electric vehicle (HEV), using backward facing approach simulation or QSS approach and fuzzy logic power management controller for HEV. The software being used for modelling of HEV and fuzzy logic power management controller is MATLAB/Simulink. A comparison study was completed to investigate fuzzy logic power management controller capability compared to optimal ideal controller optimized by dynamic programming. It was concluded that fuzzy logic controller shows excellent performance as HEV final battery SOC lies within 2.8% margin of that dynamic programming. Then, a comparison study was completed after addition of supercapacitor set to this HEV against battery only supply. After fuzzy logic PMC modified to include supercapacitors addition, it was observed that fuel economy improved by 54.34% from 57.6 mpg to 88.9 mpg, and total energy consumption reduced by 27.27%

    Learning and tuning fuzzy logic controllers through reinforcements

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    A new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system is presented. In particular, our Generalized Approximate Reasoning-based Intelligent Control (GARIC) architecture: (1) learns and tunes a fuzzy logic controller even when only weak reinforcements, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto, Sutton, and Anderson to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and has demonstrated significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing

    Simulation for position control of DC motor using fuzzy logic controller

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    The purpose of this project is to control the position of DC Motor by using Fuzzy Logic Controller (FLC) with MATLAB application. The scopes includes the simulation and modelling of DC motor, fuzzy controller and conventional PID controller as benchmark to the performance of fuzzy system. The position control is an adaptation of Closed Circuit Television (CCTV) system. Fuzzy Logic control can play important role because knowledge based design rules can be easily implemented in the system with unknown structure and it is going to be popular since the control design strategy is simple and practical. This make FLC an alternative method to the conventional PID control method used in nonlinear industrial system. The results obtained from FLC are compared with PID control for the dynamic response of the closed loop system. Parameters such as peak position in degree, settling time in second and maximum overshoot in percent will be part of the simulation result. Overall performance show that FLC perform better than PID controller

    Comparative Analysis Multi-Robot Formation Control Modeling Using Fuzzy Logic Type 2 – Particle Swarm Optimization

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    Multi-robot is a robotic system consisting of several robots that are interconnected and can communicate and collaborate with each other to complete a goal. With physical similarities, they have two controlled wheels and one free wheel that moves at the same speed. In this Problem, there is a main problem remaining in controlling the movement of the multi robot formation in searching the target. It occurs because the robots have to create dynamic geometric shapes towards the target. In its movement, it requires a control system in order to move the position as desired. For multi-robot movement formations, they have their own predetermined trajectories which are relatively constant in varying speeds and accelerations even in sudden stops. Based on these weaknesses, the robots must be able to avoid obstacles and reach the target. This research used Fuzzy Logic type 2 – Particle Swarm Optimization algorithm which was compared with Fuzzy Logic type 2 – Modified Particle Swarm Optimization and Fuzzy Logic type 2 – Dynamic Particle Swarm Optimization. Based on the experiments that had been carried out in each environment, it was found that Fuzzy Logic type 2 - Modified Particle Swarm Optimization had better iteration, time and resource and also smoother robot movement than Fuzzy Logic type 2 – Particle Swarm Optimization and Fuzzy Logic Type 2 - Dynamic Particle Swarm Optimization
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