322 research outputs found
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
Fuzzy Controllers
Trying to meet the requirements in the field, present book treats different fuzzy control architectures both in terms of the theoretical design and in terms of comparative validation studies in various applications, numerically simulated or experimentally developed. Through the subject matter and through the inter and multidisciplinary content, this book is addressed mainly to the researchers, doctoral students and students interested in developing new applications of intelligent control, but also to the people who want to become familiar with the control concepts based on fuzzy techniques. Bibliographic resources used to perform the work includes books and articles of present interest in the field, published in prestigious journals and publishing houses, and websites dedicated to various applications of fuzzy control. Its structure and the presented studies include the book in the category of those who make a direct connection between theoretical developments and practical applications, thereby constituting a real support for the specialists in artificial intelligence, modelling and control fields
Fuzzy Modelling and Control of the Air System of a Diesel Engine
This paper proposes a fuzzy modelling approach oriented to the design of a fuzzy controller for regulating the fresh airflow of a real diesel engine. This strategy has been suggested for enhancing the regulator design that could represent an alternative to the standard embedded BOSCH controller, already implemented in the Engine Control Unit (ECU), without any change to the engine instrumentation. The air system controller project requires the knowledge of a dynamic model of the diesel engine, which is achieved by means of the suggested fuzzy modelling and identification scheme. On the other hand, the proposed fuzzy PI controller structure is straightforward and easy to implement with respect to different strategies proposed in literature. The results obtained with the designed fuzzy controller are compared to those of the traditional embedded BOSCH controller
Centralized and Decentralized Applications of a Novel Adaptive Control
An adaptive control based on the combination of a novel branch of Soft Computing and fractional order derivatives was applied to control two incompletely modeled, nonlinear, coupled dynamic systems. Each of them contained one internal degree of freedom neither directly modeled/observed nor actuated. As alternatives the decentralized and the centralized control approaches were considered. In each case, as a starting point, a simple, incomplete dynamic model predicting the state-propagation of the modeled axes was applied. In the centralized approach this model contained all the observable and controllable joints. In the decentralized approach two similar initial models were applied for the two coupled subsystems separately. The controllers were restricted to the observation of the generalized coordinates modeled by them. It was expected that both approaches had to be efficient and successful. Simulation examples are resented for the control of two double pendulum-cart systems coupled by a spring and two bumpers modeled by a quasi-singular potential. It was found that both approaches were able to “learn” and to manage this control task with a very similar efficiency. In both cases the application of near integer order derivatives means serious factor of stabilization and elimination of undesirable fluctuations. Since in many technical fields the application of simple decentralized controllers is desirable the present approach seems to be promising and deserves further attention and research.N/
The Application of Fuzzy Logic in Determining Linguistic Rules and Associative Membership Functions for the Control of a Manufacturing Process
Fuzzy logic is a form of multi-valued logic derived from fuzzy set theory. Its methodology aims to provide a definitive solution from information that may be construed as ambiguous, imprecise or noisy. Classical set theory studies the properties of sets, while fuzzy set theory investigates the degree to which an element can be related to a set. The aim of this project is to develop a control strategy for a specific technical challenge relating to the food processing sector based on the deployment of fuzzy logic control concepts. Specifically, in this paper the author is concerned with the ability to control the density input of a variable feed product stream by automatically adjusting the „thermo pressure‟ & „feed flow‟ within desired limits. For the purpose of this study, the expert knowledge of both senior automation engineers and process operators was procured in order to develop an understanding of the dynamics and the limitations of the manufacturing process. The focus of this study is the development of a fuzzy logic control system for the production of “Whey Permeate Concentrate” in the production facilities of Glanbia plc. in Ballyragget, County Kilkenny
Precision Control of a Sensorless Brushless Direct Current Motor System
Sensorless control strategies were first suggested well over a decade ago with the aim of
reducing the size, weight and unit cost of electrically actuated servo systems. The
resulting algorithms have been successfully applied to the induction and synchronous
motor families in applications where control of armature speeds above approximately one
hundred revolutions per minute is desired. However, sensorless position control remains
problematic.
This thesis provides an in depth investigation into sensorless motor control strategies for
high precision motion control applications. Specifically, methods of achieving control of
position and very low speed thresholds are investigated. The developed grey box
identification techniques are shown to perform better than their traditional white or black
box counterparts. Further, fuzzy model based sliding mode control is implemented and
results demonstrate its improved robustness to certain classes of disturbance. Attempts to
reject uncertainty within the developed models using the sliding mode are discussed.
Novel controllers, which enhance the performance of the sliding mode are presented.
Finally, algorithms that achieve control without a primary feedback sensor are
successfully demonstrated. Sensorless position control is achieved with resolutions
equivalent to those of existing stepper motor technology. The successful control of
armature speeds below sixty revolutions per minute is achieved and problems typically
associated with motor starting are circumvented.Research Instruments Ltd
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