Direct Adaptive Control for Underactuated Mechatronic Systems Using Fuzzy Systems and Neural Networks PDF Download

Author: Murad Musa Al-Shibli
Publisher:
ISBN:
Category : Fuzzy systems
Languages : en
Pages : 0

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Book Description
This thesis describes the implementation of a vertical motion and position control scheme for a mechatronic system, specifically the Pendubot robot. The Pendubot is a non-linear, underactuated and unstable two-link planar robot arm that is frequently used as a benchmark in research studies involving nonlinear control theory and underactuated systems. Control of the Pendubot poses two challenging tasks: (i) to swing the two links from their stable hanging position to unstable vertical equilibrium positions, and (ii) to balance the links about the desired equilibrium positions. PD fuzzy controller is formulated and employed to meet challenges associated with swing-up control. Vertical balance control employs fuzzy systems and radial Gaussian neural networks. As such, an adaptive neural network and fuzzy controller is further analyzed, where the balance stability depends on a controller weight that is determined using Lyapunov theory. This approach is proven to be globally stable, with errors converging to a neighbourhood of zero. Then, the proposed swing-up and the balancing controllers are coupled together to achieve the motion objective in a stable manner, while resisting the external disturbances. The simulation results show that both the swing-up and balancing control schemes can be realized using 25 and 5 If-Then-rules, respectively. The simulation results confirm the results attained from the theoretical analysis.

Author: Marcin Szuster
Publisher: Springer
ISBN: 331968826X
Category : Technology & Engineering
Languages : en
Pages : 387

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Book Description
The book deals with intelligent control of mobile robots, presenting the state-of-the-art in the field, and introducing new control algorithms developed and tested by the authors. It also discusses the use of artificial intelligent methods like neural networks and neuraldynamic programming, including globalised dual-heuristic dynamic programming, for controlling wheeled robots and robotic manipulators,and compares them to classical control methods.

Author: Jeffrey T. Spooner
Publisher: John Wiley & Sons
ISBN: 0471460974
Category : Science
Languages : en
Pages : 564

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Book Description
Thema dieses Buches ist die Anwendung neuronaler Netze und Fuzzy-Logic-Methoden zur Identifikation und Steuerung nichtlinear-dynamischer Systeme. Dabei werden fortgeschrittene Konzepte der herkömmlichen Steuerungstheorie mit den intuitiven Eigenschaften intelligenter Systeme kombiniert, um praxisrelevante Steuerungsaufgaben zu lösen. Die Autoren bieten viel Hintergrundmaterial; ausgearbeitete Beispiele und Übungsaufgaben helfen Studenten und Praktikern beim Vertiefen des Stoffes. Lösungen zu den Aufgaben sowie MATLAB-Codebeispiele sind ebenfalls enthalten.

Author: Yiannis Boutalis
Publisher: Springer Science & Business
ISBN: 3319063642
Category : Technology & Engineering
Languages : en
Pages : 316

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Book Description
Presenting current trends in the development and applications of intelligent systems in engineering, this monograph focuses on recent research results in system identification and control. The recurrent neurofuzzy and the fuzzy cognitive network (FCN) models are presented. Both models are suitable for partially-known or unknown complex time-varying systems. Neurofuzzy Adaptive Control contains rigorous proofs of its statements which result in concrete conclusions for the selection of the design parameters of the algorithms presented. The neurofuzzy model combines concepts from fuzzy systems and recurrent high-order neural networks to produce powerful system approximations that are used for adaptive control. The FCN model stems from fuzzy cognitive maps and uses the notion of “concepts” and their causal relationships to capture the behavior of complex systems. The book shows how, with the benefit of proper training algorithms, these models are potent system emulators suitable for use in engineering systems. All chapters are supported by illustrative simulation experiments, while separate chapters are devoted to the potential industrial applications of each model including projects in: • contemporary power generation; • process control and • conventional benchmarking problems. Researchers and graduate students working in adaptive estimation and intelligent control will find Neurofuzzy Adaptive Control of interest both for the currency of its models and because it demonstrates their relevance for real systems. The monograph also shows industrial engineers how to test intelligent adaptive control easily using proven theoretical results.

Author: C J Harris
Publisher: CRC Press
ISBN: 9780748400669
Category : Technology & Engineering
Languages : en
Pages : 384

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Book Description
"Advances in intelligent Control" is a collection of essays covering the latest research in the field. Based on a special issue of "The International Journal of Control", the book is arranged in two parts. Part one contains recent contributions of artificial neural networks to modelling and control. Part two concerns itself primarily with aspects of fuzzy logic in intelligent control, guidance and estimation, although some of the contributions either make direct equivalence relationships to neural networks or use hybrid methods where a neural network is used to develop the fuzzy rule base.

Author: Sofiane Bououden
Publisher: Springer Nature
ISBN: 9811564035
Category : Technology & Engineering
Languages : en
Pages : 1257

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Book Description
This book gathers papers presented during the 4th International Conference on Electrical Engineering and Control Applications. It covers new control system models, troubleshooting tips and complex system requirements, such as increased speed, precision and remote capabilities. Additionally, the papers discuss not only the engineering aspects of signal processing and various practical issues in the broad field of information transmission, but also novel technologies for communication networks and modern antenna design. This book is intended for researchers, engineers and advanced postgraduate students in the fields of control and electrical engineering, computer science and signal processing, as well as mechanical and chemical engineering.

Author: Frank L. Lewis
Publisher: SIAM
ISBN: 0898715059
Category : Technology & Engineering
Languages : en
Pages : 252

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Book Description
Brings neural networks and fuzzy logic together with dynamical control systems. Each chapter presents powerful control approaches for the design of intelligent controllers to compensate for actuator nonlinearities.

Author: S.G. Tzafestas
Publisher: Springer Science & Business Media
ISBN: 9401154988
Category : Technology & Engineering
Languages : en
Pages : 573

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Book Description
This book is concerned with Intelligent Control methods and applications. The field of intelligent control has been expanded very much during the recent years and a solid body of theoretical and practical results are now available. These results have been obtained through the synergetic fusion of concepts and techniques from a variety of fields such as automatic control, systems science, computer science, neurophysiology and operational research. Intelligent control systems have to perform anthropomorphic tasks fully autonomously or interactively with the human under known or unknown and uncertain environmental conditions. Therefore the basic components of any intelligent control system include cognition, perception, learning, sensing, planning, numeric and symbolic processing, fault detection/repair, reaction, and control action. These components must be linked in a systematic, synergetic and efficient way. Predecessors of intelligent control are adaptive control, self-organizing control, and learning control which are well documented in the literature. Typical application examples of intelligent controls are intelligent robotic systems, intelligent manufacturing systems, intelligent medical systems, and intelligent space teleoperators. Intelligent controllers must employ both quantitative and qualitative information and must be able to cope with severe temporal and spatial variations, in addition to the fundamental task of achieving the desired transient and steady-state performance. Of course the level of intelligence required in each particular application is a matter of discussion between the designers and users. The current literature on intelligent control is increasing, but the information is still available in a sparse and disorganized way.

Author: Howard Kaufman
Publisher: Springer Science & Business Media
ISBN: 146120657X
Category : Technology & Engineering
Languages : en
Pages : 445

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Book Description
Suitable either as a reference for practising engineers or as a text for a graduate course in adaptive control systems, this is a self-contained compendium of readily implementable adaptive control algorithms. These algorithms have been developed and applied by the authors for over fifteen years to a wide variety of engineering problems including flexible structure control, blood pressure control, and robotics. As such, they are suitable for a wide variety of multiple input-output control systems with uncertainty and external disturbances. The text is intended to enable anyone with knowledge of basic linear multivariable systems to adapt the algorithms to problems in a wide variety of disciplines. Thus, in addition to developing the theoretical details of the algorithms presented, the text gives considerable emphasis to designing algorithms and to representative applications in flight control, flexible structure control, robotics, and drug-infusion control. This second edition makes good use of MATLAB programs for the illustrative examples; these programs are described in the text and can be obtained from the MathWorks file server.

Author: George A. Rovithakis
Publisher: Springer
ISBN:
Category : Computers
Languages : en
Pages : 214

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Book Description
The primary purpose of this book is to present a set of techniques which allow the design of controllers able to guarantee stability, convergence and robustness for dynamical systems with unknown nonlinearities and of manufacturing systems. To compensate for the significant amount of uncertainty in system structure, a neural network model developed recently, namely the Recurrent High Order Neural Network (RHONN), is employed. Real applications are provided with illustrations and tables for clarification; the book contains material on: - RHONN structure and approximation capabilities - indirect adaptive control - direct adaptive control - scheduling for manufacturing systems - test case for scheduling using RHONNs. The book is primarily intended for industrial and institutional practitioners but should be of significant interest to undergraduate and graduate students and academic scientists working with neural networks and their applications in engineering.