A Fuzzy Controller for Tentacle Cooperative Robots

2001 ◽  
Author(s):  
Mircea Ivanescu ◽  
Nicu Bizdoaca ◽  
Dorian Cojocaru ◽  
Nirvana Popescu ◽  
Decebal Popescu
Keyword(s):  
Control Strategy ◽  
Fuzzy System ◽  
Fuzzy Controller ◽  
Control Algorithms ◽  
Control Parameters ◽  
Software Simulation ◽  
Contact Points ◽  
Simulation Results ◽  
Hard Contact ◽  
The Stability

Abstract A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic system formed by tentacle manipulators grasping a commune object with hard contact points. The control system contains two parts: the first component is a conventional controller, which implements a control strategy based on the Lyapunov stability, and the second is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established The fuzzy controller was developed using Matlab and Simulink software. Simulation results are presented and discussed.

scholarly journals New DTC strategy of multi-machines single-inverter systems for electric vehicle traction applications

2020 ◽  
Vol 11 (2) ◽  
pp. 641
Author(s):  
Taibi Ahmed ◽  
Hartani Kada ◽  
Allali Ahmed
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Control Structure ◽  
Synchronous Machines ◽  
Permanent Magnet Synchronous Machines ◽  
Structure Control ◽  
The Subject ◽  
Simulation Results ◽  
The Stability ◽  
Traction System

In high power traction system applications two or more machines are fed by one converter. This topology results in a light, more compact and less costly system. These systems are called multi-machines single-converter systems. The problems posed by different electrical and mechanical couplings in these systems (MMS) affect various stages of the systems and require control strategy to reduce adverse effects. Control of multi-machines single-converter systems is the subject of this paper. The studied MMS is an electric vehicle with four in-wheel PMS motors. A three-leg inverter supplies two permanent magnet synchronous machines which are connected to the front right and rear right wheels, and another inverter supplies the left side. Several methods have been proposed for the control of multi-machines single-inverter systems, the master-slave control structure seems best adapted for our traction system. In this paper, a new control structure based on DTC method is used for the control of bi-machine traction system of an EV. This new control has been implanted in simulation to analyze its robustness in the presence of the various load cases involved in our electric vehicle traction chain. Simulation results indicated that this structure control allowed the stability of the traction system.

Speed Regulation Strategies of PMSM Based on Adaptive ADRC

2012 ◽  
Vol 466-467 ◽  
pp. 546-550 ◽  
Author(s):  
Wen Gu ◽  
Jiu He Wang ◽  
Xiao Bin Mu ◽  
Sheng Sheng Xu
Keyword(s):  
Permanent Magnet ◽  
Control Strategy ◽  
Adaptive Algorithm ◽  
Permanent Magnet Synchronous Motor ◽  
Regulation System ◽  
Speed Regulation ◽  
Adaptive Parameters ◽  
Regulation Strategies ◽  
Simulation Results ◽  
The Stability

To the speed-regulation system of permanent magnet synchronous motor (PMSM), this paper presents a active disturbances rejection controller (ADRC) based on the adaptive theory. First, the inertia information will be obtained by identification. Then, ADRC is designed by combining an adaptive algorithm. The controller can realize the adaptive parameters adjustment according to the inertia information, which is called adaptive ADRC. Simulation results have confirmed this control strategy can effectively improve the stability and robustness of PMSM.

A Research on the Fuzzy Control Strategy for Parallel Hybrid Electric Vehicle

2011 ◽  
Vol 121-126 ◽  
pp. 2522-2526
Author(s):  
Ling Cai ◽  
Liang Ge
Keyword(s):  
Fuzzy Control ◽  
Electric Vehicle ◽  
Energy Management ◽  
Control Strategy ◽  
Hybrid Electric Vehicle ◽  
Fuzzy Controller ◽  
Secondary Development ◽  
Simulation Results ◽  
Hybrid Electric ◽  
Fuzzy Control Strategy

Several kinds of methods of energy management of hybrid electric vehicle (HEV) are analyzed. Based on the design requirement of a certain type of parallel HEV, the fuzzy control strategy of energy management is proposed. ADVISOR2002 is chosen as the simulation platform for secondary development, and the simulation results of the fuzzy control strategy and electric assist control strategy are compared. The simulation results indicate that the adaptive fuzzy controller can obviously improve the performance of HEV fuel economy and emissions.

Bifurcation Control of in Morris-Lecar Neuron Model via Washout Filter with a Linear Term Based on Filter-Aided Dynamic Feedback

2012 ◽  
Vol 485 ◽  
pp. 600-603 ◽  
Author(s):  
Hai Long Duan ◽  
Cheng Kun Cui ◽  
Chun Xiao Han ◽  
Yan Qiu Che
Keyword(s):  
Electrical Stimulation ◽  
Stability Criterion ◽  
Neuron Model ◽  
Linear Control ◽  
Control Parameters ◽  
Dynamic Feedback ◽  
Hurwitz Stability ◽  
Washout Filter ◽  
Simulation Results ◽  
The Stability

In this paper, based on Routh-Hurwitz stability criterion, the linear control term of washout filter-aided dynamic feedback controller is added to the Morris-Lecar (ML) system to stabilize the bifurcation. We deduce the linear control parameters according to the stability criterion, and the simulation results indicate that the controller is effective to stabilize ML model. In addition, electrical stimulation is selected as an output of the controller, thus it may provide theoretical guidance for clinical diagnosis and therapy of dynamical diseases.

H∞ Control of Flexible Joint Robot via T-S Fuzzy Model

2011 ◽  
Vol 128-129 ◽  
pp. 894-897
Author(s):  
Feng Wang ◽  
Xiao Ping Liu
Keyword(s):  
Robot Control ◽  
Fuzzy Controller ◽  
Fuzzy Model ◽  
Stability Conditions ◽  
Modeling Error ◽  
Flexible Joint ◽  
Control Approach ◽  
Compensation Principle ◽  
Simulation Results ◽  
The Stability

In this paper, a H∞ control approach based on T-S fuzzy model for flexible joint robot is proposed. First, the Takagi and Sugeno (T-S) fuzzy model is applied to approximate the flexible joint robot. Then, a fuzzy controller is developed based on parallel distributed compensation principle (PDC), and H∞ performance is employed to restrain the influence of modeling error caused by variety of stiffness. The stability conditions for the flexible joint robot control system are proposed by Lyapunov function. Finally, the simulation results are given to show the effectiveness of the proposed method.

scholarly journals Adaptive Feedback Control for a Pasteurization Process

Processes ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 930
Author(s):  
Emil D.J. Rasmussen ◽  
Massimiliano Errico ◽  
Stefania Tronci
Keyword(s):  
Control Strategy ◽  
Adaptive Algorithm ◽  
Pid Controller ◽  
Linear Control ◽  
Control Algorithms ◽  
Time Varying ◽  
Control Parameters ◽  
Adaptive Feedback ◽  
Control Approach ◽  
Adaptive Feedback Control

The milk pasteurization process is nonlinear in nature, and for this reason, the application of linear control algorithms does not guarantee the obtainment of the required performance in every condition. The problem is here addressed by proposing an adaptive algorithm, which was obtained by starting from an observer-based control approach. The main result is the obtainment of a simple PI-like controller structure, where the control parameters depend on the state of the system and are adapted online. The proposed algorithm was designed and applied on a simulated process, where the temperature dependence of the milk’s physical properties was considered. The control strategy was tested by simulating different situations, particularly when time-varying disturbances entered the system. The use of the adaptive rule reduces the variance generally introduced by the PI or PID controller.

Application of GA-FNC in Crystallizer Liquid Level Control System

2011 ◽  
Vol 199-200 ◽  
pp. 1777-1780
Author(s):  
Ming Li ◽  
Da Yong Yang
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Steel Casting ◽  
Fuzzy Controller ◽  
Liquid Level ◽  
Level Control ◽  
Intelligent Control System ◽  
Casting System ◽  
The Stability ◽  
Self Learning

This article discusses the control strategy of the steel casting system which possesses the characteristics of large inertia, time-varying and nonlinear. Aiming at getting the minimum deviation of liquid level, the control strategy uses the genetic algorithm to off-line optimize the parameters (cij,bj) of the Gaussian membership function and the network structure of fuzzy controller which affect the overall system firstly. Then, BP algorithm is used to online regulate and optimize the weight parameters of the control output which affect the system partly. Finally, the intelligent control system of the liquid level which is based on GA-FNC is simulated. The results show that the method can enhance the ability of self-learning and robustness of the system greatly and improve the stability of steel casting system significantly.

scholarly journals Study on the Lyapunov Stability of a Time-Discrete Macro Traffic System with Variable Delay and Feedback Control

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2346
Author(s):  
Shan Jiang ◽  
Geng Zhang ◽  
Yu Zhang ◽  
Dong-Bo Pan ◽  
Wen-Ze Xiong
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Stable Condition ◽  
Control Parameters ◽  
Variable Delay ◽  
Lyapunov Theorem ◽  
Traffic Jam ◽  
Traffic System ◽  
The Stability ◽  
Feedback Control Strategy

This paper constructs and analyzes a time-discrete macro traffic system with bounded variable delay and feedback control strategy. By theoretical analysis using the Lyapunov theorem, a stable condition of the macro traffic system is derived under which traffic jams can be suppressed. The traffic developing properties of the new traffic system for different variable delay and feedback control parameters are illustrated through simulation. The results show that variable delay can easily lead a traffic system to evolve into a traffic jam, and the feedback control strategy can enhance the stability of the traffic system with respect to variable delay. Moreover, the traffic unstable level caused by variable delay is less than the unstable extent caused by the constant upper bound of variable delay; still it is more serious than the traffic fluctuation caused by the constant lower bound of variable delay.

scholarly journals A Constant-Pressure Hydraulic PTO System for a Wave Energy Converter Based on a Hydraulic Transformer and Multi-Chamber Cylinder

Energies ◽  
2021 ◽  
Vol 15 (1) ◽  
pp. 241
Author(s):  
Chenglong Li ◽  
Dahai Zhang ◽  
Weijie Zhang ◽  
Xiaodong Liu ◽  
Ming Tan ◽  
...  
Keyword(s):  
Power Generation ◽  
Fuzzy Control ◽  
Control Strategy ◽  
Constant Pressure ◽  
Fuzzy Controller ◽  
Electrical Energy ◽  
Power Circuit ◽  
Hydraulic Transformer ◽  
The Stability ◽  
Transformer Ratio

This paper presents a constant-pressure hydraulic PTO system that can convert stored pressure energy into electrical energy at a stable speed through hydraulic motors and generators. A multi-chamber cylinder can be connected to the main power generation circuit by check valves, and the motor displacement can be controlled by a fuzzy controller to maintain the main power generation circuit under stable pressure. The hydraulic transformer can control the forces applied to the floater. The hydrodynamic parameters of the floater are calculated by AQWA, and the optimal PTO damping of the hydraulic system is analyzed as the target of transformer control. MATLAB/Simulink and AMESim are used to carry out the co-simulation. Three kinds of wave elevation time-series for the specific state are designed for the simulation. In the co-simulation, three approaches are carried out for the simulation including no control strategy, fuzzy control with a fixed transformer ratio, and fuzzy control with a variable transformer ratio. Under the fuzzy control with a fixed transformer ratio, the floater displacement and captured energy do not increase significantly, but the oil pressure fluctuation is very stable, which indicates that the fuzzy controller maintains the stability of the main power circuit. While under fuzzy control with a variable transformer ratio, the power generation is not larger than those under no control strategy or fuzzy control with a fixed transformer ratio, which proves that this hydraulic transformer concept is less efficient.

scholarly journals Power System Transient Stability Enhancement by Tuning of SSSC and PSS Parameters Using PSO Technique

2018 ◽  
Vol 26 (5) ◽  
pp. 81-94 ◽  
Author(s):  
Hashim Dhahir Mohammed
Keyword(s):  
Power System ◽  
Transient Stability ◽  
System Stability ◽  
Control Parameters ◽  
Improve Performance ◽  
Nonlinear Simulation ◽  
Simulation Results ◽  
The Stability ◽  
Stability Enhancement ◽  
Severe Disturbance

In this paper, the tuning design of  SSSC and PSS was examined in increasing the damping of system oscillations and improve the stability of the power system during disturbances. The design problem of the SSSC controller and PSS is designed as problem of optimization and the technique uses (PSO) technique to find for optimal control parameters. By minimizing the objective function based on the speed deviation and time domain, which deliberately deviates at the oscillation angle of the alternator rotor to improve performance of transient stability of the system. The proposed controllers are tested on the system of weak bonding ability exposed to severe disturbance. Nonlinear simulation results are presented to demonstrate the proposed controller's effectiveness and its ability to give efficient damping. It is also noted that the proposed controllers  of SSSC and PSS greatly improves the power system stability.

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