10,098 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
Multi-objective evolutionary–fuzzy augmented flight control for an F16 aircraft
In this article, the multi-objective design of a fuzzy logic augmented flight controller for a high performance fighter jet (the Lockheed-Martin F16) is described. A fuzzy logic controller is designed and its membership functions tuned by genetic algorithms in order to design a roll, pitch, and yaw flight controller with enhanced manoeuverability which still retains safety critical operation when combined with a standard inner-loop stabilizing controller. The controller is assessed in terms of pilot effort and thus reduction of pilot fatigue. The controller is incorporated into a six degree of freedom motion base real-time flight simulator, and flight tested by a qualified pilot instructor
A genetic algorithm for the design of a fuzzy controller for active queue management
Active queue management (AQM) policies are those
policies of router queue management that allow for the detection of network congestion, the notification of such occurrences to the
hosts on the network borders, and the adoption of a suitable control
policy. This paper proposes the adoption of a fuzzy proportional
integral (FPI) controller as an active queue manager for Internet
routers. The analytical design of the proposed FPI controller is
carried out in analogy with a proportional integral (PI) controller,
which recently has been proposed for AQM. A genetic algorithm is
proposed for tuning of the FPI controller parameters with respect
to optimal disturbance rejection. In the paper the FPI controller
design metodology is described and the results of the comparison
with random early detection (RED), tail drop, and PI controller
are presented
Robustness analysis of evolutionary controller tuning using real systems
A genetic algorithm (GA) presents an excellent method for controller parameter tuning. In our work, we evolved the heading as well as the altitude controller for a small lightweight helicopter. We use the real flying robot to evaluate the GA's individuals rather than an artificially consistent simulator. By doing so we avoid the ldquoreality gaprdquo, taking the controller from the simulator to the real world. In this paper we analyze the evolutionary aspects of this technique and discuss the issues that need to be considered for it to perform well and result in robust controllers
Advanced and Innovative Optimization Techniques in Controllers: A Comprehensive Review
New commercial power electronic controllers come to the market almost every day to help improve electronic circuit and system performance and efficiency. In DC–DC switching-mode converters, a simple and elegant hysteretic controller is used to regulate the basic buck, boost and buck–boost converters under slightly different configurations. In AC–DC converters, the input current shaping for power factor correction posts a constraint. But, several brilliant commercial controllers are demonstrated for boost and fly back converters to achieve almost perfect power factor correction. In this paper a comprehensive review of the various advanced optimization techniques used in power electronic controllers is presented
Optimization of Evolutionary Neural Networks Using Hybrid Learning Algorithms
Evolutionary artificial neural networks (EANNs) refer to a special class of
artificial neural networks (ANNs) in which evolution is another fundamental
form of adaptation in addition to learning. Evolutionary algorithms are used to
adapt the connection weights, network architecture and learning algorithms
according to the problem environment. Even though evolutionary algorithms are
well known as efficient global search algorithms, very often they miss the best
local solutions in the complex solution space. In this paper, we propose a
hybrid meta-heuristic learning approach combining evolutionary learning and
local search methods (using 1st and 2nd order error information) to improve the
learning and faster convergence obtained using a direct evolutionary approach.
The proposed technique is tested on three different chaotic time series and the
test results are compared with some popular neuro-fuzzy systems and a recently
developed cutting angle method of global optimization. Empirical results reveal
that the proposed technique is efficient in spite of the computational
complexity
Multiobjective programming for type-2 hierarchical fuzzy inference trees
This paper proposes a design of hierarchical fuzzy inference tree (HFIT). An HFIT produces an
optimum tree-like structure. Specifically, a natural hierarchical structure that accommodates simplicity by
combining several low-dimensional fuzzy inference systems (FISs). Such a natural hierarchical structure
provides a high degree of approximation accuracy. The construction of HFIT takes place in two phases.
Firstly, a nondominated sorting based multiobjective genetic programming (MOGP) is applied to obtain a
simple tree structure (low model’s complexity) with a high accuracy. Secondly, the differential evolution
algorithm is applied to optimize the obtained tree’s parameters. In the obtained tree, each node has a
different input’s combination, where the evolutionary process governs the input’s combination. Hence,
HFIT nodes are heterogeneous in nature, which leads to a high diversity among the rules generated
by the HFIT. Additionally, the HFIT provides an automatic feature selection because it uses MOGP
for the tree’s structural optimization that accept inputs only relevant to the knowledge contained in
data. The HFIT was studied in the context of both type-1 and type-2 FISs, and its performance was
evaluated through six application problems. Moreover, the proposed multiobjective HFIT was compared
both theoretically and empirically with recently proposed FISs methods from the literature, such as
McIT2FIS, TSCIT2FNN, SIT2FNN, RIT2FNS-WB, eT2FIS, MRIT2NFS, IT2FNN-SVR, etc. From the
obtained results, it was found that the HFIT provided less complex and highly accurate models compared
to the models produced by most of the other methods. Hence, the proposed HFIT is an efficient and
competitive alternative to the other FISs for function approximation and feature selectio
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