A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators

2005 ◽  
Vol 13 (3) ◽  
pp. 362-372 ◽  
Author(s):  
V. Santibanez ◽  
R. Kelly ◽  
M.A. Llama
Keyword(s):  
Fuzzy Controller ◽  
Robot Manipulators ◽  
Stable Set ◽  
Set Point ◽  
Asymptotic Stable

scholarly journals Sectorial Fuzzy Controller Plus Feedforward applied to the Trajectory Tracking of Robot Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9918-9923
Author(s):  
Andres O. Pizarro-Lerma ◽  
Victor Santibanez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos Chin
Keyword(s):  
Trajectory Tracking ◽  
Fuzzy Controller ◽  
Robot Manipulators

Decentralized fuzzy linguistic control of multiple robotic manipulators with guaranteed global stability

2019 ◽  
Vol 20 (1) ◽  
pp. 185-204
Author(s):  
Yongqing Fan ◽  
Wenqing Wang ◽  
Xiangkui Jiang ◽  
Zhen Li
Keyword(s):  
Fuzzy Logic ◽  
Global Stability ◽  
Fuzzy Controller ◽  
Robot Manipulators ◽  
Design Method ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Fuzzy Logic Systems ◽  
Approximation Accuracy ◽  
Logic Systems

Abstract A decentralized adaptive control based on human linguistic is investigated to learn human behaviors for multiple robotic manipulators. Many experts’ words or sentences can be transferred into the control actions by employing membership functions in robot systems, which can be synthesized fuzzy controller by employing reasoning mechanism. For the unknown model dynamical robot manipulators, one adjustable parameter that relates to the approximation accuracy of fuzzy logic systems is introduced at first, which be utilized to deal with the unknown dynamics of robot manipulators. Switching fuzzy adaptive controller is designed to overcome the limitation of logic structure that the number of adaptive laws only focus on fuzzy rules in conventional fuzzy logic systems. Another advantage of this design method is that the control with human linguistic extend the semi-global stability to global stability. Finally, effectiveness of the developed control design scheme has been shown in simulation example.

scholarly journals Sleep promotes downward firing rate homeostasis

2019 ◽  
Author(s):  
Alejandro Torrado Pacheco ◽  
Juliet Bottorff ◽  
Gina G. Turrigiano
Keyword(s):  
Firing Rate ◽  
Homeostatic Plasticity ◽  
Stable Set ◽  
Set Point ◽  
Aspartate Receptor ◽  
Vigilance State ◽  
Hebbian Plasticity ◽  
Freely Behaving ◽  
Scaling Down

SUMMARYHomeostatic plasticity is hypothesized to regulate neuronal activity around a stable set point to compensate for learning-related plasticity. This regulation is predicted to be bidirectional but only upward firing rate homeostasis (FRH) has been demonstrated in vivo. We combined chronic electrophysiology in freely behaving animals with a protocol that induces robust plasticity in primary visual cortex (V1) to induce downward FRH and show that neurons bidirectionally regulate firing rates around an individual set point. Downward FRH did not require N-methyl-D-aspartate receptor (NMDAR) signaling and was associated with homeostatic scaling down of synaptic strengths. Like upward FRH, downward FRH was gated by vigilance state, but in the opposite direction: it occurred during sleep and not during wake. In contrast, FR changes associated with Hebbian plasticity happened independently of sleep and wake. Thus, we find that sleep’s impact on neuronal plasticity depends on the particular forms of plasticity that are engaged.

scholarly journals Bimodal distribution and set point HBV DNA viral loads in chronic infection: retrospective analysis of cohorts from the UK and South Africa

2020 ◽  
Vol 5 ◽  
pp. 113
Author(s):  
Louise O. Downs ◽  
Sabeehah Vawda ◽  
Phillip Armand Bester ◽  
Katrina A. Lythgoe ◽  
Tingyan Wang ◽  
...  
Keyword(s):  
South Africa ◽  
Large Population ◽  
Population Level ◽  
Bimodal Distribution ◽  
Skewed Distribution ◽  
Stable Set ◽  
Cross Sectional ◽  
Set Point ◽  
Viral Loads ◽  
The Uk

Hepatitis B virus (HBV) viral load (VL) is used as a biomarker to assess risk of disease progression, and to determine eligibility for treatment. While there is a well recognised association between VL and the expression of the viral e-antigen protein, the distributions of VL at a population level are not well described. We here present cross-sectional, observational HBV VL data from two large population cohorts in the UK and in South Africa, demonstrating a consistent bimodal distribution. The right skewed distribution and low median viral loads are different from the left-skew and higher viraemia in seen in HIV and hepatitis C virus (HCV) cohorts in the same settings. Using longitudinal data, we present evidence for a stable ‘set-point’ VL in peripheral blood during chronic HBV infection. These results are important to underpin improved understanding of HBV biology, to inform approaches to viral sequencing, and to plan public health interventions.

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