Robust hybrid fuzzy logic control of a novel two-wheeled robotic vehicle with a movable payload under various operating conditions

2012 ◽  
Author(s):  
A M Almeshal ◽  
M O Tokhi ◽  
K M Goher
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Operating Conditions ◽  
Logic Control ◽  
Wheeled Robotic Vehicle ◽  
Robotic Vehicle

Inverse Dynamics-Based Fuzzy Logic Control of a Projectile Smart Fin

2005 ◽  
Author(s):  
Mohamed B. Trabia ◽  
Surya Kiran Parimi ◽  
Woosoon Yim
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Inverse Dynamics ◽  
Operating Conditions ◽  
Attractive Alternative ◽  
Fuzzy Logic Controllers ◽  
Logic Control ◽  
Novel Approach ◽  
External Moment ◽  
Element Approach

A smart fin for a subsonic projectile should be able to produce maneuvering force and moment that can control its rotation during flight. Piezoelectric actuator is an attractive alternative to usual hydraulic actuators due to its simplicity. The cantilever-shaped actuator can also be fully enclosed within the hollow fin. It has an end fixed to the rotation axle of the fin while the other end is pinned at the tip of the fin. A dynamic model of the system, including external moment due to aerodynamic effects, is obtained using the finite element approach. This paper presents a novel approach for automatically creating fuzzy logic controllers for the fin. This approach uses the inverse dynamics of the smart fin system to determine the ranges of the variables of the controllers. Simulation results show that the proposed controller can successfully drive smart fin under various operating conditions.

GA-Based Fuzzy Logic Control for a Smart Fin of a Projectile

2007 ◽  
Author(s):  
Venkat Mudupu ◽  
Mohamed B. Trabia ◽  
Woosoon Yim ◽  
Paul Weinacht
Keyword(s):  
Fuzzy Logic ◽  
System Identification ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Operating Conditions ◽  
Piezoelectric Bimorph ◽  
Logic Control ◽  
Identification Technique ◽  
Simulation Results ◽  
Design And Testing

This paper presents the design and testing of a smart fin for a subsonic projectile. The smart fin is activated using a piezoelectric bimorph with a substrate that is completely enclosed within the fin. A linear model of the actuator and fin system is created using the frequency response identification technique within MATLAB System Identification Toolbox. A procedure for designing a GA-based fuzzy logic controller for the fin is presented. Experimental and simulation results show that the proposed controller achieved the fin angle control under different operating conditions.

Design and Validation of Fuzzy Logic Control for a Smart Projectile Fin

2007 ◽  
Author(s):  
Venkat Mudupu ◽  
Mohamed B. Trabia ◽  
Woosoon Yim ◽  
Paul Weinacht
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Experimental Testing ◽  
Operating Conditions ◽  
Chirp Signal ◽  
Piezoelectric Bimorph ◽  
Subsonic Wind Tunnel ◽  
Logic Control ◽  
The University

This paper deals with the design and validation of the fuzzy logic control for a smart fin of a projectile. The fin is actuated by a cantilevered piezoelectric bimorph that is completely enclosed within the fin. A linear model of the actuator and fin is identified experimentally by exciting the system using a chirp signal. A procedure for designing a GA-based fuzzy logic controller for the fin is presented. The controller is verified using simulation and experimental testing that is conducted in the subsonic wind tunnel at the University of Nevada, Las Vegas (UNLV). Results illustrate that the proposed controller can track the desired fin angle control under various operating conditions.

Fuzzy Control of a Mobile Robotic Vehicle

1995 ◽  
Vol 209 (2) ◽  
pp. 79-91 ◽  
Author(s):  
J W Baxter ◽  
J R Bumby
Keyword(s):  
Fuzzy Logic ◽  
Laboratory Test ◽  
Fuzzy Logic Control ◽  
Sliding Window ◽  
Test Results ◽  
Logic Control ◽  
Laboratory Test Results ◽  
Control Scheme ◽  
Robotic Vehicle ◽  
Universe Of Discourse

This paper presents a fuzzy logic control scheme for the navigation of a mobile robot in the presence of obstacles. A fuzzy navigation controller is described which guides the robot from a start position to a goal, or sub-goal, position assuming that no obstacles are in the path. Obstacles affect the navigation controller according to a set of fuzzy inhibitive rules that take into account the vehicle geometry, the distance of the obstacle from the robot and the probability of the object being at the position indicated. To ensure that all possible collision-free paths are considered, each entry in the fuzzy fit vector is distributed, or spread, across the output universe of discourse before using a sliding window defuzzification technique to produce a crisp output value. The use of the sliding window defuzzification technique helps to remove indecision from the controller. Both simulated and laboratory test results are presented.

scholarly journals A new method to minimize the chattering phenomenon in sliding mode control based on intelligent control for induction motor drives

2013 ◽  
Vol 10 (2) ◽  
pp. 231-246 ◽  
Author(s):  
Ismail Bendaas ◽  
Farid Naceri
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Induction Motor ◽  
Fuzzy Logic Control ◽  
Sliding Mode ◽  
Torque Ripple ◽  
Operating Conditions ◽  
New Method ◽  
Mode Control ◽  
Logic Control

This paper presents new method toward the design of hybrid control with sliding-mode (SMC) plus fuzzy logic control (FLC) for induction motors. As the variations of both control system parameters and operating conditions occur, the conventional control methods may not be satisfied further. Sliding mode control is robust with respect to both induction motor parameter variations and external disturbances. By embedding a fuzzy logic control into the sliding mode control, the chattering (torque-ripple) problem with varying parameters, which are the main disadvantage in sliding-mode control, can be suppressed, Simulation results of the proposed control theme present good dynamic and steady-state performances as compared to the classical SMC from aspects for torque-ripple minimization, the quick dynamic torque response and robustness to disturbance and variation of parameters.

scholarly journals Innovative initiatives in control education at Ryerson Polytechnic University. Fuzzy-logic control of the 3D-helicopter simulator

2021 ◽  
Author(s):  
M S Zywno ◽  
D Pereira
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Undergraduate Curriculum ◽  
Operating Conditions ◽  
Control Engineering ◽  
Logic Control ◽  
Emerging Trends ◽  
Control Education

This paper describes one of projects undertaken at Ryerson Polytechnic University to integrate emerging trends in control engineering into the undergraduate curriculum. An intelligent control scheme based on fuzzy-logic, and developed for an experimental setup, is discussed. The process is a highly coupled 8th-order, multi-input multi-output, 3 degrees-of-freedom simulator of a helicopter. Currently the setup is used to develop control strategies for undergraduate thesis students. Eventually, the process will also be accessible to students remotely over the World Wide Web. The controller performance with the fuzzy-logic control (FLC) is benchmarked against that of a conventional controller. The simulations show that the system performance under FLC does not deteriorate away from the equilibrium point and remains comparable with, or superior to, the performance under the linear control, over the whole range of operating conditions of this setup.

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