Abstract: This paper proposes an effective algorithm approach to hybrid control systems combining fuzzy logic and conventional control techniques of controlling the speed of induction motor assumed to operate in high-performance drives environment. The introducing of fuzzy logic in the control systems helps to achieve good dynamical response, disturbance rejection and low sensibility to parameter variations and external influences. Some fundamentals of the fuzzy logic control are preliminary illustrated. The developed control algorithm is robust, efficient and simple. It also assures precise trajectory tracking with the prescribed dynamics. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the validity and the usefulness of the hybrid fuzzy controller in high-performance drives with parameter and load uncertainties. Satisfactory performance was observed for most reference tracks.
Abstract: this paper presents a novel neural network controller
with composite adaptation low to improve the trajectory tracking
problems of biped robots comparing with classical controller. The
biped model has 5_link and 6 degrees of freedom and actuated by
Plated Pneumatic Artificial Muscle, which have a very high power to
weight ratio and it has large stoke compared to similar actuators. The
proposed controller employ a stable neural network in to approximate
unknown nonlinear functions in the robot dynamics, thereby
overcoming some limitation of conventional controllers such as PD
or adaptive controllers and guarantee good performance. This NN
controller significantly improve the accuracy requirements by
retraining the basic PD/PID loop, but adding an inner adaptive loop
that allows the controller to learn unknown parameters such as
friction coefficient, therefore improving tracking accuracy.
Simulation results plus graphical simulation in virtual reality show
that NN controller tracking performance is considerably better than
PD controller tracking performance.
Abstract: This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.
Abstract: The problem of manipulator control is a highly
complex problem of controlling a system which is multi-input, multioutput,
non-linear and time variant. In this paper some adaptive
fuzzy, and a new hybrid fuzzy control algorithm have been
comparatively evaluated through simulations, for manipulator
control. The adaptive fuzzy controllers consist of self-organizing,
self-tuning, and coarse/fine adaptive fuzzy schemes. These
controllers are tested for different trajectories and for varying
manipulator parameters through simulations. Various performance
indices like the RMS error, steady state error and maximum error are
used for comparison. It is observed that the self-organizing fuzzy
controller gives the best performance. The proposed hybrid fuzzy
plus integral error controller also performs remarkably well, given its
simple structure.
Abstract: This paper compares the heuristic Global Search
Techniques; Genetic Algorithm, Particle Swarm Optimization,
Simulated Annealing, Generalized Pattern Search, genetic algorithm
hybridized with Nelder–Mead and Generalized pattern search
technique for tuning of fuzzy PID controller for Puma 560. Since the
actual control is in joint space ,inverse kinematics is used to generate
various joint angles correspoding to desired cartesian space
trajectory. Efficient dynamics and kinematics are modeled on Matlab
which takes very less simulation time. Performances of all the tuning
methods with and without disturbance are compared in terms of ITSE
in joint space and ISE in cartesian space for spiral trajectory tracking.
Genetic Algorithm hybridized with Generalized Pattern Search is
showing best performance.