3,066 research outputs found
APPRAISAL OF TAKAGI–SUGENO TYPE NEURO-FUZZY NETWORK SYSTEM WITH A MODIFIED DIFFERENTIAL EVOLUTION METHOD TO PREDICT NONLINEAR WHEEL DYNAMICS CAUSED BY ROAD IRREGULARITIES
Wheel dynamics play a substantial role in traversing and controlling the vehicle, braking, ride comfort, steering, and maneuvering. The transient wheel dynamics are difficult to be ascertained in tire–obstacle contact condition. To this end, a single-wheel testing rig was utilized in a soil bin facility for provision of a controlled experimental medium. Differently manufactured obstacles (triangular and Gaussian shaped geometries) were employed at different obstacle heights, wheel loads, tire slippages and forward speeds to measure the forces induced at vertical and horizontal directions at tire–obstacle contact interface. A new Takagi–Sugeno type neuro-fuzzy network system with a modified Differential Evolution (DE) method was used to model wheel dynamics caused by road irregularities. DE is a robust optimization technique for complex and stochastic algorithms with ever expanding applications in real-world problems. It was revealed that the new proposed model can be served as a functional alternative to classical modeling tools for the prediction of nonlinear wheel dynamics
On the interpretation and identification of dynamic Takagi-Sugenofuzzy models
Dynamic Takagi-Sugeno fuzzy models are not always easy to interpret, in particular when they are identified from experimental data. It is shown that there exists a close relationship between dynamic Takagi-Sugeno fuzzy models and dynamic linearization when using affine local model structures, which suggests that a solution to the multiobjective identification problem exists. However, it is also shown that the affine local model structure is a highly sensitive parametrization when applied in transient operating regimes. Due to the multiobjective nature of the identification problem studied here, special considerations must be made during model structure selection, experiment design, and identification in order to meet both objectives. Some guidelines for experiment design are suggested and some robust nonlinear identification algorithms are studied. These include constrained and regularized identification and locally weighted identification. Their usefulness in the present context is illustrated by examples
A review of convex approaches for control, observation and safety of linear parameter varying and Takagi-Sugeno systems
This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).Peer ReviewedPostprint (published version
Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization
Using the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system theory into one common framework. The rule-based T-S fuzzy model splits a nonlinear system into several linear subsystems. Parallel Distributed Compensation (PDC) controller synthesis uses these T-S fuzzy model rules. The resulting fuzzy controller is nonlinear, based on fuzzy aggregation of state controllers of individual linear subsystems. The system is optimized by the linear quadratic control (LQC) method, its stability is analysed using the Lyapunov method. Stability conditions are guaranteed by a system of linear matrix inequalities (LMIs) formulated and solved for the closed loop system with the proposed PDC controller. The additional GA optimization procedure is introduced, and a new type of its fitness function is proposed to improve the closed-loop system performance.Web of Science71110
Modelling fish habitat preference with a genetic algorithm-optimized Takagi-Sugeno model based on pairwise comparisons
Species-environment relationships are used for evaluating the current status of target species and the potential impact of natural or anthropogenic changes of their habitat. Recent researches reported that the results are strongly affected by the quality of a data set used. The present study attempted to apply pairwise comparisons to modelling fish habitat preference with Takagi-Sugeno-type fuzzy habitat preference models (FHPMs) optimized by a genetic algorithm (GA). The model was compared with the result obtained from the FHPM optimized based on mean squared error (MSE). Three independent data sets were used for training and testing of these models. The FHPMs based on pairwise comparison produced variable habitat preference curves from 20 different initial conditions in the GA. This could be partially ascribed to the optimization process and the regulations assigned. This case study demonstrates applicability and limitations of pairwise comparison-based optimization in an FHPM. Future research should focus on a more flexible learning process to make a good use of the advantages of pairwise comparisons
Laparoscopy Pneumoperitoneum Fuzzy Modeling
Abstract: Gas volume to intra-peritoneal pressure fuzzy modeling for evaluating pneumoperitoneum in videolaparoscopic surgery is proposed in this paper. The proposed approach innovates in using fuzzy logic and fuzzy set theory for evaluating the accuracy of the prognosis value in order to minimize or avoid iatrogenic injuries due to the blind needle puncture. In so doing, it demonstrates the feasibility of fuzzy analysis to contribute to medicine and health care. Fuzzy systems is employed here in synergy with artificial neural network based on backpropaga tion, multilayer perceptron architecture for building up numerical functions. Experimental data employed for analysis were collected in the accomplishment of the pneumoperitoneum in a random population of patients submitted to videolaparoscopic surgeries. Numerical results indicate that the proposed fuzzy mapping for describing the relation from the intra peritoneal pressure measures as function injected gas volumes succeeded in determinining a fuzzy model for this nonlinear system when compared to the statistical model
Learning Opposites with Evolving Rules
The idea of opposition-based learning was introduced 10 years ago. Since then
a noteworthy group of researchers has used some notions of oppositeness to
improve existing optimization and learning algorithms. Among others,
evolutionary algorithms, reinforcement agents, and neural networks have been
reportedly extended into their opposition-based version to become faster and/or
more accurate. However, most works still use a simple notion of opposites,
namely linear (or type- I) opposition, that for each assigns its
opposite as . This, of course, is a very naive estimate of
the actual or true (non-linear) opposite , which has been
called type-II opposite in literature. In absence of any knowledge about a
function that we need to approximate, there seems to be no
alternative to the naivety of type-I opposition if one intents to utilize
oppositional concepts. But the question is if we can receive some level of
accuracy increase and time savings by using the naive opposite estimate
according to all reports in literature, what would we be able to
gain, in terms of even higher accuracies and more reduction in computational
complexity, if we would generate and employ true opposites? This work
introduces an approach to approximate type-II opposites using evolving fuzzy
rules when we first perform opposition mining. We show with multiple examples
that learning true opposites is possible when we mine the opposites from the
training data to subsequently approximate .Comment: Accepted for publication in The 2015 IEEE International Conference on
Fuzzy Systems (FUZZ-IEEE 2015), August 2-5, 2015, Istanbul, Turke
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