Deformation-compensated modeling of flexible material processing based on T-S fuzzy neural network and fuzzy clustering

According to the factors that influence flexible material processing (FMP), the deformation compensation modeling method based on T-S fuzzy neural network is proposed. This method combines T-S fuzzy reasoning with a fuzzy neural network. Firstly, fuzzy clustering is introduced to extract fuzzy membership functions and the fitness of fuzzy rules of T-S fuzzy neural network antecedent from the past processing data. Secondly, with the steepest descent method, back-propagation iteration is used to calculate the connection weights of the network. The processing of experiments shows that T-S fuzzy neural network modeling is superior to typical T-S model. The angle error and the straightness error processed by NTS-FNN is 40.4 %, 28.8 % lower than those of STS-FNN. The minimum processing time processed by NTS-FNN is lower by 46.1 % than that of STS-FNN

Deformation-compensated modeling of flexible material processing based on T-S fuzzy neural network and fuzzy clustering

According to the factors that influence flexible material processing (FMP), the deformation compensation modeling method based on T-S fuzzy neural network is proposed. This method combines T-S fuzzy reasoning with a fuzzy neural network. Firstly, fuzzy clustering is introduced to extract fuzzy membership functions and the fitness of fuzzy rules of T-S fuzzy neural network antecedent from the past processing data. Secondly, with the steepest descent method, back-propagation iteration is used to calculate the connection weights of the network. The processing of experiments shows that T-S fuzzy neural network modeling is superior to typical T-S model. The angle error and the straightness error processed by NTS-FNN is 40.4 %, 28.8 % lower than those of STS-FNN. The minimum processing time processed by NTS-FNN is lower by 46.1 % than that of STS-FNN

Deformation-compensated modeling of flexible material processing based on T-S fuzzy neural network and fuzzy clustering

According to the factors that influence flexible material processing (FMP), the deformation compensation modeling method based on T-S fuzzy neural network is proposed. This method combines T-S fuzzy reasoning with a fuzzy neural network. Firstly, fuzzy clustering is introduced to extract fuzzy membership functions and the fitness of fuzzy rules of T-S fuzzy neural network antecedent from the past processing data. Secondly, with the steepest descent method, back-propagation iteration is used to calculate the connection weights of the network. The processing of experiments shows that T-S fuzzy neural network modeling is superior to typical T-S model. The angle error and the straightness error processed by NTS-FNN is 40.4 %, 28.8 % lower than those of STS-FNN. The minimum processing time processed by NTS-FNN is lower by 46.1 % than that of STS-FNN

Intelligent Decentralized Adaptive Controller Design for a Class of Large Scale Nonlinear Non-affine Systems: Nonlinear Observer-based Approach

Abstract: In this study, an observer based decentralized Fuzzy Adaptive Controller (FAC) is designed for a class of large scale non-affine nonlinear systems with unknown functions of the subsystems and interactions. The proposed controller has the following main characteristics: 1) On-line adaptation of both controller and observer parameters, 2) stabilization of the closed loop system, 3) convergence of both tracking and observer errors to zero, 4) boundedness of all signals involved, 5) being prone to employing experts' knowledge in controller design procedure, 6) chattering avoidance. An illustrative example is given to show the promising performance of the proposed method

Um sistema difuso para controle de temperatura de unidades de processamento em batelada

Tese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico. Programa de Pós-Graduação em Engenharia de Produção.Sistemas de controle difuso representam uma metodologia formal para a estruturação de estratégias de controle a partir de conhecimento heurístico. Da mesma forma que apresentam-se como de compreensão mais fácil, em relação aos métodos lineares de controle, exigem do engenheiro/operador de uma planta industrial conhecimentos de conjuntos difusos, pouco disseminados, limitando a aplicação em ampla escala. Este trabalho visa fornecer os conceitos matemáticos de conjuntos difusos de forma ampla e clara, bem como propor uma estratégia de controle de temperatura para unidades de processamento em batelada. Explicitam-se também métodos de ajuste para a definição de uma técnica viável para aplicação final. As técnicas de ajuste foram aplicadas em um sistema em batelada típico, um tanque de mistura, considerando processos com e sem reação química. Como reação química foi utilizada a reação de polimerização do Estireno em suspensão. O alvo do controlador foi definido como a temperatura do sistema, a partir da manipulação das correntes quente e fria alimentadas à camisa do tanque de mistura. Dois controladores difusos foram implementados, um para cada corrente, a partir das medidas do desvio da temperatura do valor desejado e da variação da temperatura ao longo do tempo. Para a experimentação foi desenvolvido um sistema de controle completo, envolvendo desde a especificação do hardware até o software de controle. Os resultados indicam que a forma mais simples de implementar um sistema de controle difuso para reatores tipo batelada envolve o acoplamento entre as informações que produzem as ações de controle para aquecimento e resfriamento. O acoplamento foi definido com base no conhecimento heurístico sobre processos desta natureza. Para permitir um ajuste rápido foi implementado um algoritmo para manipulação, em grupo, dos parâmetros dos conjuntos difusos, com bons resultados. Análises sobre a influência de diversos parâmetros de ajuste foram realizadas com aplicações experimentais

Advances in gain-scheduling and fault tolerant control techniques

This thesis presents some contributions to the state-of-the-art of the fields of gain-scheduling and fault tolerant control (FTC). In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers. In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC). Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i de Takagi-Sugeno (TS). Es demostra que els mètodes per a la generació automàtica de models mitjançant encastament no lineal i mitjançant no linealitat sectorial, desenvolupats per una classe de sistemes, es poden estendre fàcilment per fer-los servir amb l'altra classe. Es proposen dues mesures basades en les nocions de sobrefitació i d'estimació de la regió d'atracció, per tal de comparar diferents models i triar quin d'ells pot ser considerat el millor. Després, es considera el problema de dissenyar controladors per realimentació d'estat per a sistemes LPV, proporcionant dues contribucions principals. En primer lloc, fent servir una descripció amb doble capa politòpica que té en compte tant la variabilitat deguda al vector de paràmetres variants i la deguda a la incertesa, es dissenyen controladors LPV robustos que puguin garantir unes especificacions desitjades quan s'apliquen a sistemes LPV incerts. En segon lloc, s'explora la idea de dissenyar el controlador de tal manera que les especificacions requerides siguin programades pels paràmetres variants. Això proporciona una manera elegant de variar en línia el comportament del sistema en llaç tancat. En tots dos casos, el problema es redueix a trobar una solució d'un nombre finit de desigualtats matricials lineals (LMIs), que es poden resoldre fent servir algorismes numèrics disponibles i molt eficients. En l'àrea del control tolerant a fallades, primerament la tesi mostra que la descripció amb doble capa politòpica abans esmentada es pot utilitzar per fer FTC, de tal manera que, en funció de la quantitat d'informació disponible, s'obtenen diferents estratègies (passiva, activa i híbrida). Després, es desenvolupa una estratègia de FTC per a sistemes LPV que fa servir un model de referència reconfigurat combinat amb la tècnica d'actuadors virtuals. Es mostra que mitjançant la inclusió de les saturacions en les equacions del model de referència, és possible dissenyar un sistema de control tolerant a fallades que resintonitza automàticament els estats de referència cada vegada que el sistema es veu afectat per les no linealitats de la saturació en els actuadors. D'aquesta manera s'incorpora una degradació elegant de les especificacions en presència de saturacions d'actuadors. Finalment, es considera el problema de FTC per sistemes LPV inestables afectats per saturacions d'actuadors. En aquest cas, es porta a terme el disseny de l'actuador virtual de tal manera que la convergència a zero de la trajectòria d'estat està assegurada tot i les saturacions i l'aparició de fallades. A més, es mostra que és possible obtenir garanties sobre el retard tolerat entre l'aparició d'una fallada i el seu aïllament, i que el controlador nominal es pot dissenyar maximitzant el retard tolerat

Hybridization of fuzzy systems for modeling and control

[EN] Fuzzy logic has revolutionized, in a short period of time, the technology through a combination of mathematical fundamentals, logic and reasoning. Its inherent hybridization ability and intrinsic robustness, have allowed to fuzzy logic get numerous successes in the field of modeling and control of systems, impulsing the intelligent control. In this paper, the more usual hybrid fuzzy systems and its importance in the field of modeling and control of dynamic systems are studied. The paper presents several examples that illustrate, for different hybridization techniques, how these enhance the innate qualities of fuzzy logic for modeling and control of dynamic systems. Also, more than a hundred and fifty references are included, which allow the interested reader to delve into the field of fuzzy logic, and more specifically, in its hybridization techniques with application to modeling and fuzzy control.[ES] La lógica borrosa ha conseguido en un breve periodo de tiempo revolucionar la tecnología mediante la conjunción de los fundamentos matemáticos, la lógica y el razonamiento. Su inherente capacidad de hibridación y su robustez intrínseca han permitido a la lógica borrosa cosechar numerosos éxitos en el campo del modelado y el control de sistemas, impulsando el control inteligente. En este artículo se estudian los sistemas borrosos híbridos más usuales y su importancia en el campo del modelado y control de sistemas dinámicos. El trabajo presenta varios ejemplos que ilustran, para diferentes técnicas de hibridación, cómo éstas potencian las cualidades innatas de la lógica borrosa para el modelado y control de sistemas dinámicos. Así mismo, se incluyen más de ciento cincuenta referencias bibliográficas que permitirán al lector interesado profundizar en el campo de la lógica borrosa, y más concretamente en el de sus técnicas de hibridación con aplicación al modelado y control borroso.Este artículo es una contribución del proyecto DPI2010-17123 financiado por el Ministerio de Economía y Competitividad, y del proyecto TEP-6124 financiado por la Junta de Andalucía. Ambos proyectos están cofinanciados con fondos FEDER.Andújar, JM.; Barragán, AJ. (2014). Hibridación de sistemas borrosos para el modelado y control. Revista Iberoamericana de Automática e Informática industrial. 11(2):127-141. https://doi.org/10.1016/j.riai.2014.03.004OJS127141112Al-Hadithi, B.M., Barragán, A.J., Andújar, J.M., Jiménez, A., Oct. 2013. Variable structure control with chattering elimination and guaranteed stability for a generalized t-s model. Applied Soft Computing 13 (12), 4802-4812. 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