ANFIS Control for Robotic Manipulators PDF Download

Author: Jimit Patel
Publisher:
ISBN: 9783846591710
Category : Fuzzy logic
Languages : en
Pages : 88

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Author: Agustin Jimenez
Publisher: BoD – Books on Demand
ISBN: 9533070730
Category : Technology & Engineering
Languages : en
Pages : 680

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Book Description
This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Author: Ali Zilouchian
Publisher: CRC Press
ISBN: 1420058142
Category : Technology & Engineering
Languages : en
Pages : 504

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Book Description
In recent years, intelligent control has emerged as one of the most active and fruitful areas of research and development. Until now, however, there has been no comprehensive text that explores the subject with focus on the design and analysis of biological and industrial applications. Intelligent Control Systems Using Soft Computing Methodologies does all that and more. Beginning with an overview of intelligent control methodologies, the contributors present the fundamentals of neural networks, supervised and unsupervised learning, and recurrent networks. They address various implementation issues, then explore design and verification of neural networks for a variety of applications, including medicine, biology, digital signal processing, object recognition, computer networking, desalination technology, and oil refinery and chemical processes. The focus then shifts to fuzzy logic, with a review of the fundamental and theoretical aspects, discussion of implementation issues, and examples of applications, including control of autonomous underwater vehicles, navigation of space vehicles, image processing, robotics, and energy management systems. The book concludes with the integration of genetic algorithms into the paradigm of soft computing methodologies, including several more industrial examples, implementation issues, and open problems and open problems related to intelligent control technology. Suitable as a textbook or a reference, Intelligent Control Systems explores recent advances in the field from both the theoretical and the practical viewpoints. It also integrates intelligent control design methodologies to give designers a set of flexible, robust controllers and provide students with a tool for solving the examples and exercises within the book.

Author: S.G. Tzafestas
Publisher: Springer Science & Business Media
ISBN: 9781402003943
Category : Mathematics
Languages : en
Pages : 380

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Book Description
This book contains thirty timely contributions in the emerging field of Computational Intelligence (CI) with reference to system control design and applications. The three basic constituents ofCI are neural networks (NNs). fuzzy logic (FL) I fuzzy reasoning (FR). and genetic algorithms (GAs). NNs mimic the distributed functioning of the human brain and consist of many. rather simple. building elements (called artificial neurons) which are controlled by adaptive parameters and are able to incorporate via learning the knowledge provided by the environment, and thus respond intelligently to new stimuli. Fuzzy logic (FL) provides the means to build systems that can reason linguistically under uncertainty like the human experts (common sense reasoning). Both NNs and FL I FR are among the most widely used tools for modeling unknown systems with nonlinear behavior. FL suits better when there is some kind of knowledge about the system. such as, for example, the linguistic information of a human expert. On the other hand. NNs possess unique learning and generalization capabilities that allow the user to construct very accurate models of nonlinear systems simply using input-output data. GAs offer an interesting set of generic tools for systematic random search optimization following the mechanisms of natural genetics. In hybrid Computational Intelligence - based systems these three tools (NNs, FL, GAs) are combined in several synergetic ways producing integrated tools with enhanced learning, generalization. universal approximation. reasoning and optimization abilities.

Author: Hamido Fujita
Publisher: Springer
ISBN: 3319175300
Category : Computers
Languages : en
Pages : 408

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Book Description
This book constitutes the best papers selection from the proceedings of the 13th International Conference on Intelligent Software Methodologies, Tools and Techniques, SoMeT 2014, held in Langkawi, Malaysia, in September 2014. The 27 full papers presented were carefully reviewed, thoroughly revised or enlarged, and selected as best papers from the 79 published proceedings papers, which had originally been selected from 192 submissions. The papers are organized in topical sections on artificial intelligence techniques in software engineering; requirement engineering, high-assurance system; intelligent software systems design; creative and arts in interactive software design; software methodologies for reliable software design; software quality and assessment for business enterprise; software analysis and performance model; software applications systems.

Author: C.-H. Chen
Publisher: IOS Press
ISBN: 1643682555
Category : Computers
Languages : en
Pages : 1154

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Book Description
The pervasiveness of computers in every field of science, industry and everyday life has meant that applied mathematics, particularly in relation to modeling and simulation, has become ever more important in recent years. This book presents the proceedings of the 2021 International Conference on Applied Mathematics, Modeling and Computer Simulation (AMMCS 2021), hosted in Wuhan, China, and held as a virtual event from 13 to 14 November 2021. The aim of the conference is to foster the knowledge and understanding of recent advances across the broad fields of applied mathematics, modeling and computer simulation, and it provides an annual platform for scholars and researchers to communicate important recent developments in their areas of specialization to colleagues and other scientists in related disciplines. This year more than 150 participants were able to exchange knowledge and discuss recent developments via the conference. The book contains 115 peer-reviewed papers, selected from more than 250 submissions and ranging from the theoretical and conceptual to the strongly pragmatic and all addressing industrial best practice. Topics covered include mathematical modeling and applications, engineering applications and scientific computations, and the simulation of intelligent systems. Providing an overview of recent development and with a mix of practical experiences and enlightening ideas, the book will be of interest to researchers and practitioners everywhere.

Author: Wen Yu
Publisher: Academic Press
ISBN: 9780128133804
Category :
Languages : en
Pages : 220

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Book Description
Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance, and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering. PID Control with Intelligent Compensation for Exoskeleton Robots shows readers how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. PD/PID using intelligent compensation has proven much more effective than other model-based compensations. PID Control with Intelligent Compensation for Exoskeleton Robots shows readers how to use neural PD and neural PID controls to reduce integration gain, providing explicit conditions on how to select linear PID gains by using proof of semi global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. Discusses novel PD and PID controllers for biomedical and industrial robotic applications, demonstrating how PD and PID with intelligent compensation is more effective than other model-based compensations Presents a stability analysis of this book for industrial linear PID Includes practical applications of robotic PD/PID control such as serial sliding mode, explicit conditions for linear PID, and high gain observers for neural PD control Includes applied exoskeleton applications and Matlab code for simulations and applications

Author: Sohail Iqbal
Publisher: BoD – Books on Demand
ISBN: 9535107593
Category : Computers
Languages : en
Pages : 593

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Book Description
Fuzzy control theory is an emerging area of research. At the core of many engineering problems is the problem of control of different systems. These systems range all the way from classical inverted pendulum to auto-focusing system of a digital camera. Fuzzy control systems have demonstrated their enhanced performance in all these areas. Progress in this domain is very fast and there was critical need of a book that captures all the recent advances both in theory and in applications. Serving this purpose, this book is conceived. This book will provide you a very clear picture of current status of fuzzy control research. This book is intended for researchers, engineers, and postgraduate students specializing in fuzzy systems, control engineering, and robotics.

Author: Vladimir Haasz
Publisher: CRC Press
ISBN: 1000795306
Category : Computers
Languages : en
Pages : 305

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Book Description
DAQ and data processing is a basic part of all automated production systems, diagnostic systems, watching over quality of production, energy distribution, transport control or in various other areas. Demands on the speed, accuracy and reliability increase in general. It is possible to achieve not only using superior (but also more expensive) hardware, but also applying advanced data acquisition and intelligent data processing. It deals e.g. optimal data fusion of a number of sensors, new stochastic methods for accuracy increasing, new algorithms for acceleration of data processing, etc. These are the grounds for publishing this book. Advanced Data Acquisition and Intelligent Data Processing offers 10 up-to-date examples of different applications of advanced data acquisition and intelligent data processing used in monitoring, measuring and diagnostics systems. The book arose based on the most interesting papers from this area published at IDAACS?2013 conference. However, the indivudual chapters include not only designed solution in wider context but also relevant theoretical parts, achieved results and possible future ways.Technical topics discussed in this book include: • advanced methods of data acquisition in application that are not routine;• measured data fusion using up-to-date advanced data processing;• nonlinear dynamical systems identification;• multidimensional image processing.Advanced Data Acquisition and Intelligent Data Processing is ideal for personnel of firms deals with advanced instrumentation, energy consumption monitoring, environment monitoring, non-descructive diagnostics robotics, etc., as well as academic staff and postgraduate students in electrical, control and computer engineering.Content: 1. Introduction; 2. Waveform acquisition with resolutions exceeding those of the ADC employed; 3. Different Disaggregation Algorithms in Non-Intrusive Home Energy Monitoring Systems; 4. Design and testing of an electronic nose system sensitive to the aroma of truffles; 5. DAQ System for Ultrasonic Transducer Evaluation under Spread Spectrum Excitation; 6. Optimal Data Fusion in Decentralized Stochastic Unknown Input Observers; 7. Odor Classification by Neural Networks; 8. ANFIS Based Approach for Improved Multisensors Signal Processing; 9. Neuro-Fuzzy Sensor's Linearization Based FPGA; 10. Interpolation Method of Nonlinear Dynamical Systems Identification Based on Volterra Model in Frequency Domain ; 11. Training Cellular Automata for Hyperspectral Image Segmentation

Author: Oscar Castillo
Publisher: Springer
ISBN: 3642155340
Category : Technology & Engineering
Languages : en
Pages : 475

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Book Description
This book describes in a detailed fashion the application of hybrid intelligent systems using soft computing techniques for intelligent control and mobile robotics. Soft Computing (SC) consists of several intelligent computing paradigms, including fuzzy logic, neural networks, and bio-inspired optimization algorithms, which can be used to produce powerful hybrid intelligent systems. The prudent combination of SC techniques can produce powerful hybrid intelligent systems that are capable of solving real-world problems. This is illustrated in this book with a wide range of applications, with particular emphasis in intelligent control and mobile robotics. The book is organized in five main parts, which contain a group of papers around a similar subject. The first part consists of papers with the main theme of theory and algorithms, which are basically papers that propose new models and concepts, which can be the basis for achieving intelligent control and mobile robotics. The second part contains papers with the main theme of intelligent control, which are basically papers using bio-inspired techniques, like evolutionary algorithms and neural networks, for achieving intelligent control of non-linear plants. The third part contains papers with the theme of optimization of fuzzy controllers, which basically consider the application of bio-inspired optimization methods to automate the de-sign process of optimal type-1 and type-2 fuzzy controllers. The fourth part contains papers that deal with the application of SC techniques in times series prediction and intelligent agents. The fifth part contains papers with the theme of computer vision and robotics, which are papers considering soft computing methods for applications related to vision and robotics.