scholarly journals Online Tuning of PID Controller Using a Multilayer Fuzzy Neural Network Design for Quadcopter Attitude Tracking Control

2021 ◽  
Vol 14 ◽  
Author(s):  
Daewon Park ◽  
Tien-Loc Le ◽  
Nguyen Vu Quynh ◽  
Ngo Kim Long ◽  
Sung Kyung Hong
Keyword(s):  
Neural Network ◽  
Network Design ◽  
Attitude Control ◽  
Pid Controller ◽  
Fuzzy Neural Network ◽  
Learning Ability ◽  
System Stability ◽  
Effective Control ◽  
Fuzzy Neural ◽  
Online Tuning

This study presents an online tuning proportional-integral-derivative (PID) controller using a multilayer fuzzy neural network design for quadcopter attitude control. PID controllers are simple but effective control methods. However, finding the suitable gain of a model-based controller is relatively complicated and time-consuming because it depends on external disturbances and the dynamic modeling of plants. Therefore, the development of a method for online tuning of quadcopter PID parameters may save time and effort, and better control performance can be achieved. In our controller design, a multilayer structure was provided to improve the learning ability and flexibility of a fuzzy neural network. Adaptation laws to update network parameters online were derived using the gradient descent method. Also, a Lyapunov analysis was provided to guarantee system stability. Finally, simulations concerning quadcopter attitude control were performed using a Gazebo robotics simulator in addition to a robot operating system (ROS), and their results were demonstrated.

scholarly journals Single-Phase Photovoltaic Grid-Connected Inverter Based on Fuzzy Neural Network

2021 ◽  
Vol 25 (3) ◽  
pp. 310-316
Author(s):  
Shenping Xiao ◽  
Zhouquan Ou ◽  
Junming Peng ◽  
Yang Zhang ◽  
Xiaohu Zhang ◽  
...  
Keyword(s):  
Neural Network ◽  
Pid Controller ◽  
Fuzzy Neural Network ◽  
Single Phase ◽  
Fuzzy Inference ◽  
Learning Ability ◽  
Proportional Integral ◽  
Fuzzy Neural ◽  
Grid Connected Inverter ◽  
Self Learning

Based on a single-phase photovoltaic grid-connected inverter, a control strategy combining traditional proportional–integral–derivative (PID) control and a dynamic optimal control algorithm with a fuzzy neural network was proposed to improve the dynamic characteristics of grid-connected inverter systems effectively. A fuzzy inference rule was established after analyzing the proportional, integral, and differential coefficients of the PID controller. A fuzzy neural network was applied to adjust the parameters of the PID controller automatically. Accordingly, the proposed dynamic optimization algorithm was deduced in theory. The simulation and experimental results showed that the method was effective in making the system more robust to external disruption owing to its excellent steady-state adaptivity and self-learning ability.

Development and Research of Intelligent PID Controller Based on Fuzzy Neural Network

2014 ◽  
Vol 644-650 ◽  
pp. 341-345
Author(s):  
Ming Jun Li ◽  
Hua Tian ◽  
Xiao Jing Guo
Keyword(s):  
Neural Network ◽  
Intelligent Control ◽  
Pid Controller ◽  
Fuzzy Neural Network ◽  
Network System ◽  
Validity And Reliability ◽  
Fuzzy Neural ◽  
Neural Network System ◽  
Intelligent Pid ◽  
Matlab Programming

In this paper, intelligent fuzzy control theory is introduced in the model of neural network algorithm, and the neural network system is improved by the PID controller, which has realized the feedback and adjustment function of neural network system, and has made the reaction of the system be more accurate and stable. In order to verify the validity and reliability of the designed intelligent control PID algorithm based on the fuzzy neural network in this paper, the algorithm is carried on the programming by using Matlab programming software, and the control process of PID is calculated by NNbox simulation toolbox, at last, it has obtained the curve of PID control response changing over time. From the response curve, it can be seen that after the PID proportional coefficient is regulated by using fuzzy neural network intelligent control algorithm, it can quickly and steadily obtain the control curve, which has realized better intelligent control effect, and has provided technical reference for the research of intelligent PID controller.

Fuzzy Neural Network Hybrid Learning Control on AUV

2012 ◽  
Vol 468-471 ◽  
pp. 1732-1735
Author(s):  
Jing Zhao ◽  
Zhao Lin Han ◽  
Yuan Yuan Fang
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Autonomous Underwater Vehicle ◽  
Learning Algorithm ◽  
Hybrid Learning ◽  
Network Control ◽  
Learning Ability ◽  
B Spline ◽  
Hybrid Learning Algorithm ◽  
Fuzzy Neural

A novel controller based on the fuzzy B-spline neural network is presented, which combines the advantages of qualitative defining capability of fuzzy logic, quantitative learning ability of neural networks and excellent local controlling ability of B-spline basis functions, which are being used as fuzzy functions. A hybrid learning algorithm of the controller is proposed as well. The results show that it is feasible to design the fuzzy neural network control of autonomous underwater vehicle by the hybrid learning algorithm.

Wheeled Robot Based on Fuzzy Neural Network Tracking Studies

2013 ◽  
Vol 373-375 ◽  
pp. 181-184
Author(s):  
Su Ying Zhang ◽  
Shao Jie Xu ◽  
Jing Fei Zhu ◽  
Bing Hao Li ◽  
Wen Pan Shi
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
External Disturbance ◽  
Network Control ◽  
Learning Ability ◽  
Parameter Uncertainties ◽  
Wheeled Robot ◽  
Fuzzy Neural ◽  
Arbitrary Precision

The wheeled robot with non-integrity constraints is a typical nonlinear system, in order to achieve the ideal path tracing, presented a theory based on fuzzy neural network control. Centralized compensation system based on neural network uncertainty can be arbitrary-precision approximation of continuous nonlinear functions as well as the complex uncertainties with adaptive and learning ability. By MATLAB simulation showed that the control method to ensure fast convergence and error robustness of parameter uncertainties and external disturbance.

Fuzzy Neural Network Based on Genetic Algorithm for Temperature Control of Variable Air Volume Air Conditioning

2014 ◽  
Vol 599-601 ◽  
pp. 952-955
Author(s):  
Jie Jia Li ◽  
Yong Qiang Chen ◽  
Xiao Yan Han
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Air Conditioning ◽  
Fuzzy Neural Network ◽  
Learning Ability ◽  
Variable Air Volume ◽  
Air Volume ◽  
Fuzzy Neural

In this paper, the theory of the fuzzy control and self-learning ability of neural network is combined, joining the genetic algorithm to optimize the fuzzy control rules, so in the light of temperature control system of variable air volume air conditioning puts forward a fuzzy neural network control method based on genetic algorithm,and this paper introduces in detail the structure, algorithm of fuzzy control and neural network. In addition,this paper verifies the superiority of the fuzzy neural network based on genetic algorithm and ordinary fuzzy neural control.

Research on Direct Torque Control Adaptive Fuzzy Neural Network Controller of Permanent Magnet Synchronous Motor

2014 ◽  
Vol 989-994 ◽  
pp. 2815-2819
Author(s):  
Chao Fan Lu ◽  
Hong Bin Yu
Keyword(s):  
Neural Network ◽  
Permanent Magnet ◽  
Hybrid System ◽  
Fuzzy Neural Network ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Learning Ability ◽  
Smooth Transition ◽  
Neural Network Controller ◽  
Fuzzy Neural

Has the advantages of quick response of PMSM using the method of DTC, but will make the high torque and big magnetic flux linkage ripples. In order to solve this problem, using the fuzzy neural network hybrid system to replace the traditional hysteresis controller, Strong learning ability and fuzzy logic in handling uncertain information has the adaptive ability of neural network, the fuzzy neural network hybrid system to produce the expected voltage vector, the speed of a smooth transition of permanent magnet synchronous motor. The proposed method is validated by simulation under external disturbances in motor is very effective to reduce the ripple of torque and flux, the speed of the fast response and smooth transition.

Self-Learning Control of PMA-Actuated Knee-Joint Rehabilitation Training Device Based on Fuzzy Neural Network

2011 ◽  
Vol 467-469 ◽  
pp. 1645-1650
Author(s):  
Xiao Li ◽  
Xia Hong ◽  
Ting Guan
Keyword(s):  
Neural Network ◽  
Knee Joint ◽  
Pid Controller ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Learning Control ◽  
Training Device ◽  
Rehabilitation Training ◽  
Fuzzy Neural ◽  
Self Learning

To solve the problem of the delay, nonlinearity and time-varying properties of PMA-actuated knee-joint rehabilitation training device, a self-learning control method based on fuzzy neural network is proposed in this paper. A self-learning controller was designed based on the combination of pid controller, feedforward controller, fuzzy neural network controller, and learning mechanism. It was applied to the isokinetic continuous passive motion control of the PMA-actuated knee-joint rehabilitation training device. The experiments proved that the self-learning controller has the properties of high control accuracy and unti-disturbance capability, comparing with pid controller. This control method provides the beneficial reference for improving the control performance of such system.

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