Fuzzy antiwindup schemes for NCTF control of Point-Topoint (PTP) positioning systems

The positioning systems generally need a controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application. For satisfying these requirements, NCTF (nominal characteristic trajectory following) controller has been proposed as a practical PTP positioning control. However, the effect of actuator saturation can not be completely compensated due to integrator windup because of plant parameter variations. This study presents a method to improve the NCTF controller for overcoming the problem of integrator windup by adopting fuzzy anti-windup schemes. Two fuzzy antiwindup schemes based on Mamdani and Takagi-Sugeno fuzzy system are developed and evaluated their effectiveness. The improved NCTF controller with the proposed fuzzy anti-windup schemes is evaluated through simulation using dynamic model of a rotary positioning system. The results show that the improved NCTF controller with Takagi-Sugeno-based fuzzy windup is the best scheme to compensate for the effect of integrator windup

Comprehensive driving behavior model for intelligent transportation systems

This paper presents a novel approach of modeling human driving behavior in a more realistic way that can be effectively utilized in realizing intelligent transportation systems to ensure efficient, safe, secure and human-friendly vehicle control and transportations. A number of supporting systems based on individual driving behavior are identified. The proposed comprehensive driving model approximates complete behavior of individual drivers focusing not only the ideal steady and transient driving styles but also their natural variations. Simulation results and observations from real driving scenario illustrate the significance of the proposed model and its scopes