Force Optimization of Robotic Control Based on Fuzzy Rules Against the Saturation of Actuators

Author(s):  
Hong-rui Wang ◽  
Jin-zhuang Xiao ◽  
Fang Wang
Author(s):  
JIN-ZHUANG XIAO ◽  
HONG-RUI WANG ◽  
HONG-BIN WANG

Considering the decreasing performance of robotic systems under the constraints of actuators, this paper concludes the rules of dynamic control process and extracts the knowledge of optimizing the output of robotic controller based on the analysis of a Lyapunov function. Then fuzzy rules are used to express the knowledge and embedded in the controller to direct the dynamic control process. Under this controller, the systemic requirement of high-level outputs of the actuators is limited to a great extent, at the same time the convergent performance is optimized by a fuzzy-sets method from which the saturated fault tolerant control is realized in robotic manipulators. Simulating results on a 2-DOF robot validate the effectiveness of the given controller.


Author(s):  
Aarti Sahu ◽  
Laxmi Shrivastava

A wireless ad hoc network is a decentralized kind of wireless network. It is a kind of temporary Computer-to-Computer connection. It is a spontaneous network which includes mobile ad-hoc network (MANET), vehicular ad-hoc network (VANET) and Flying ad-hoc network (FANET). Mobile Ad Hoc Network (MANET) is a temporary network that can be dynamically formed to exchange information by wireless nodes or routers which may be mobile. A VANET is a sub form of MANET. It is an technology that uses vehicles as nodes in a network to make a mobile network. FANET is an ad-hoc network of flying nodes. They can fly independently or can be operated distantly. In this research paper Fuzzy based control approaches in wireless network detects & avoids congestion by developing the ad-hoc fuzzy rules as well as membership functions.In this concept, two parameters have been used as: a) Channel load b) The size of queue within intermediate nodes. These parameters constitute the input to Fuzzy logic controller. The output of Fuzzy logic control (sending rate) derives from the conjunction with Fuzzy Rules Base. The parameter used input channel load, queue length which are produce the sending rate output in fuzzy logic. This fuzzy value has been used to compare the MANET, FANET and VANET in terms of the parameters Throughput, packet loss ratio, end to end delay. The simulation results reveal that usage of Qual Net 6.1 simulator has reduced packet-loss in MANET with comparing of VANET and FANET.


2001 ◽  
Vol 06 (02) ◽  
Author(s):  
Adam Schenker ◽  
Abraham Kandel ◽  
Mark Last
Keyword(s):  

Author(s):  
Gireesh Namineni ◽  
◽  
G. Sreenivasulu ◽  
Keyword(s):  

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