Position and Tilt Control of Two-Wheeled Robot (TWR)

2017 ◽  
Vol 6 (4) ◽  
pp. 17-33 ◽  
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Fuzzy Inference ◽  
Second Law ◽  
Membership Functions ◽  
Inference System ◽  
Control Approach ◽  
Simulink Model ◽  
Neuro Fuzzy ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Training Error

This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.

Position and Tilt Control of Two-Wheeled Robot (TWR)

2018 ◽  
pp. 863-880
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Fuzzy Inference ◽  
Second Law ◽  
Membership Functions ◽  
Inference System ◽  
Control Approach ◽  
Simulink Model ◽  
Neuro Fuzzy ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Training Error

This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.

scholarly journals An Adaptive Neuro-Fuzzy Control of Pneumatic Mechanical Ventilator

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 51
Author(s):  
Jozef Živčák ◽  
Michal Kelemen ◽  
Ivan Virgala ◽  
Peter Marcinko ◽  
Peter Tuleja ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Fuzzy Inference ◽  
Fuzzy Controller ◽  
Mechanical Design ◽  
Mechanical Ventilator ◽  
Mechanical Ventilators ◽  
Inference System ◽  
Control Approach ◽  
Neuro Fuzzy

COVID-19 was first identified in December 2019 in Wuhan, China. It mainly affects the respiratory system and can lead to the death of the patient. The motivation for this study was the current pandemic situation and general deficiency of emergency mechanical ventilators. The paper presents the development of a mechanical ventilator and its control algorithm. The main feature of the developed mechanical ventilator is AmbuBag compressed by a pneumatic actuator. The control algorithm is based on an adaptive neuro-fuzzy inference system (ANFIS), which integrates both neural networks and fuzzy logic principles. Mechanical design and hardware design are presented in the paper. Subsequently, there is a description of the process of data collecting and training of the fuzzy controller. The paper also presents a simulation model for verification of the designed control approach. The experimental results provide the verification of the designed control system. The novelty of the paper is, on the one hand, an implementation of the ANFIS controller for AmbuBag pressure control, with a description of training process. On other hand, the paper presents a novel design of a mechanical ventilator, with a detailed description of the hardware and control system. The last contribution of the paper lies in the mathematical and experimental description of AmbuBag for ventilation purposes.

Control Dynamics and Simulation of Inclined Cart and Pendulum System

2017 ◽  
Vol 8 (2) ◽  
pp. 73-89
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Fuzzy Inference ◽  
Control Strategies ◽  
Inference System ◽  
Pendulum System ◽  
Simulink Model ◽  
System A ◽  
Neuro Fuzzy ◽  
Mathematical Equations ◽  
Overshoot And Undershoot ◽  
Inclined Surface

This paper applies various soft-computing control strategies for offline mode control of highly non-linear cart and pendulum system moving on an inclined surface. The surface is considered at inclination of 12° from horizontal. The study compares performance of four different control techniques namely Proportional-integral-derivative (PID), Fuzzy logic, Adaptive neuro fuzzy inference system (ANFIS) and Neural networks for control of proposed system. A Matlab-Simulink model of system has been developed from mathematical equations derived using Newton's second law. The cart and pendulum system has been initially controlled using PID controllers and results were further used to train ANFIS and neural controllers. The ANFIS and fuzzy controllers were designed using three and nine gbell shape membership functions (MFs) respectively. The controllers were further compared in terms of settling time, overshoot and undershoot.

scholarly journals Detection of waterborne bacteria using Adaptive Neuro-Fuzzy Inference System

2020 ◽  
Vol 158 ◽  
pp. 05002
Author(s):  
Farhan Mohammad Khan ◽  
Smriti Sridhar ◽  
Rajiv Gupta
Keyword(s):  
Water Quality ◽  
Membership Function ◽  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Quality Analysis ◽  
Hybrid Technique ◽  
Membership Functions ◽  
Inference System ◽  
Neuro Fuzzy ◽  
Soft Computing Techniques

The detection of waterborne bacteria is crucial to prevent health risks. Current research uses soft computing techniques based on Artificial Neural Networks (ANN) for the detection of bacterial pollution in water. The limitation of only relying on sensor-based water quality analysis for detection can be prone to human errors. Hence, there is a need to automate the process of real-time bacterial monitoring for minimizing the error, as mentioned above. To address this issue, we implement an automated process of water-borne bacterial detection using a hybrid technique called Adaptive Neuro-fuzzy Inference System (ANFIS), that integrates the advantage of learning in an ANN and a set of fuzzy if-then rules with appropriate membership functions. The experimental data as the input to the ANFIS model is obtained from the open-sourced dataset of government of India data platform, having 1992 experimental laboratory results from the years 2003-2014. We have included the following water quality parameters: Temperature, Dissolved Oxygen (DO), pH, Electrical conductivity, Biochemical oxygen demand (BOD) as the significant factors in the detection and existence of bacteria. The membership function changes automatically with every iteration during training of the system. The goal of the study is to compare the results obtained from the three membership functions of ANFIS- Triangle, Trapezoidal, and Bell-shaped with 35 = 243 fuzzy set rules. The results show that ANFIS with generalized bell-shaped membership function is best with its average error 0.00619 at epoch 100.

Torque and pitch angle control of a wind turbine using multiple adaptive neuro-fuzzy control

2019 ◽  
Vol 44 (2) ◽  
pp. 125-141
Author(s):  
Satyabrata Sahoo ◽  
Bidyadhar Subudhi ◽  
Gayadhar Panda
Keyword(s):  
Wind Speed ◽  
Wind Turbine ◽  
Fuzzy Inference System ◽  
Pitch Angle ◽  
Fuzzy Inference ◽  
Adaptive Controller ◽  
Inference System ◽  
Proportional Integral ◽  
Simulink Model ◽  
Neuro Fuzzy

This article presents a multiple adaptive neuro-fuzzy inference system-based control scheme for operation of the wind energy conversion system above the rated wind speed. By controlling the pitch angle and generator torque concurrently, the generator power and speed fluctuation can be reduced and also turbine blade stress can be minimized. The proposed neuro-fuzzy-based adaptive controller is composed of both the Takagi–Sugeno fuzzy inference system and neural network. First, a step change in wind speed and then a simulated wind speed are considered in the proposed adaptive control design. A MATLAB/Simulink model of the wind turbine system is prepared, and simulations are carried out by applying the proportional integral, fuzzy-proportional integral and the proposed adaptive controller. From the obtained results, the effectiveness of the proposed adaptive controller approach is confirmed.

Developing Adaptive Neuro-Fuzzy Inference System for Controlling the Intelligent Universal Transformers in ADA

2012 ◽  
Vol 433-440 ◽  
pp. 3969-3973
Author(s):  
Maryam Sadeghi ◽  
Majid Gholami
Keyword(s):  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Voltage Regulation ◽  
Current Control ◽  
Distribution Automation ◽  
Membership Functions ◽  
Back Propagation Algorithm ◽  
Input Output ◽  
Inference System ◽  
Neuro Fuzzy

This approach is carry out for developing the Adaptive Neuro-Fuzzy Inference System (ANFIS) for controlling the forthcoming Intelligent Universal Transformer (IUT) in regard of voltages and current control in both input and output stages which is optimized by particle swarm optimization. Current or voltages errors and their time derivative have been considered as the inputs of Nero Fuzzy controller for elaborating the firing angles of converters in IUT basic construction. ANFIS constructed from a fuzzy inference system (FIS) in which the membership function parameters are tuned according to the back propagation algorithm or in conjunction to the least squares method. A neural network maps inputs through input membership functions and associated parameters, and output membership functions and associated parameters to outputs which interprets the input-output map. The associated parameters of membership functions change through the learning algorithm by a gradient vector modeling the input output data in case of given parameters. Optimization method will be investigated to adjust the parameters according to error reduction computed by sum of the squared variation from actual outputs to the desired ones. Advanced Distribution Automation (ADA) is the state of art introducing for tomorrows distribution automation with the new invention in management and control. ADA is equipping by the Intelligent Equipment Devices (IED) in which IUT is a key point introducing as an intelligent transformer subjecting for tomorrows distribution automation in the near future. The proposed ANFIS is a control scheme develop for controlling the IUT by bringing the major advantages like harmonic Filtering, voltage regulation, automatic sag correction, energy storage, 48V DC option, three phase outputs in term of one phase input, reliable divers power as 240V 400HZ for communication utilization and two other 240V 60 HZ outputs, dynamic system monitoring and robustness in major disturbances occurred in terms of input and load variation.

scholarly journals Proposed ANFIS Based Approach for Fault Tracking, Detection, Clearing and Rearrangement for Photovoltaic System

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2269
Author(s):  
Ahmed F. Bendary ◽  
Almoataz Y. Abdelaziz ◽  
Mohamed M. Ismail ◽  
Karar Mahmoud ◽  
Matti Lehtonen ◽  
...  
Keyword(s):  
Fault Detection ◽  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Detection Methods ◽  
Photovoltaic Systems ◽  
Inference System ◽  
Photovoltaic Array ◽  
Neuro Fuzzy ◽  
Effective Manner ◽  
Simulation Results

In the last few decades, photovoltaics have contributed deeply to electric power networks due to their economic and technical benefits. Typically, photovoltaic systems are widely used and implemented in many fields like electric vehicles, homes, and satellites. One of the biggest problems that face the relatability and stability of the electrical power system is the loss of one of the photovoltaic modules. In other words, fault detection methods designed for photovoltaic systems are required to not only diagnose but also clear such undesirable faults to improve the reliability and efficiency of solar farms. Accordingly, the loss of any module leads to a decrease in the efficiency of the overall system. To avoid this issue, this paper proposes an optimum solution for fault finding, tracking, and clearing in an effective manner. Specifically, this proposed approach is done by developing one of the most promising techniques of artificial intelligence called the adaptive neuro-fuzzy inference system. The proposed fault detection approach is based on associating the actual measured values of current and voltage with respect to the trained historical values for this parameter while considering the ambient changes in conditions including irradiation and temperature. Two adaptive neuro-fuzzy inference system-based controllers are proposed: (1) the first one is utilized to detect the faulted string and (2) the other one is utilized for detecting the exact faulted group in the photovoltaic array. The utilized model was installed using a configuration of 4 × 4 photovoltaic arrays that are connected through several switches, besides four ammeters and four voltmeters. This study is implemented using MATLAB/Simulink and the simulation results are presented to show the validity of the proposed technique. The simulation results demonstrate the innovation of this study while proving the effective and high performance of the proposed adaptive neuro-fuzzy inference system-based approach in fault tracking, detection, clearing, and rearrangement for practical photovoltaic systems.

scholarly journals Monthly Average Rainfall Forecasting Based On An Adaptive Neuro-Fuzzy Inference System in Upper Brahmani Basin, Odisha, India

2022 ◽  
Author(s):  
M.Uma Maheswar Rao ◽  
Kanhu Charan Patra ◽  
Suvendu Kumar Sasmal
Keyword(s):  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Membership Functions ◽  
Climate Data ◽  
Rainfall Forecasting ◽  
Anfis Model ◽  
Inference System ◽  
Neural Network Learning ◽  
Neuro Fuzzy ◽  
Learning Capabilities

Abstract Floods disrupt human activities, resulting in the loss of lives and property of a region. Excessive rainfall is one of the reasons for flooding, especially in the downstream areas of a catchment. Because of its complexity, understanding and forecasting rainfall is incredibly a challenge. This study investigates the use of an Adaptive Neuro-Fuzzy Inference System (ANFIS) in predicting rainfall using several surface weather parameters as predictors. An ANFIS model is developed for forecasting rainfall over the Upper Brahmani Basin by using 30 years of climate data. A hybrid model with six membership functions gives the best forecast for an area. The suggested method blends neural network learning capabilities with language representations of fuzzy systems that are transparent. The application of ANFIS is to the upper Brahmani river basin is tried for the first time. The ANFIS model with various input structures and membership functions has been built, trained, and tested to evaluate the capability of the model. Statistical performance indices are used to evaluate the performance. Using the developed model, forecast is done for year 2021 – 2030.

scholarly journals Fault disturbances classification analysis using adaptive neuro-fuzzy inferences system

2019 ◽  
Vol 16 (3) ◽  
pp. 1196
Author(s):  
Shahrani Shahbudin ◽  
Murizah Kassim ◽  
Roslina Mohamad ◽  
Saiful Izwan Suliman ◽  
Yuslinda Wati Mohamad Yusof
Keyword(s):  
Fuzzy Inference ◽  
Voltage Sag ◽  
Membership Functions ◽  
Anfis Model ◽  
Classification Analysis ◽  
Inference System ◽  
Layered Architecture ◽  
Neuro Fuzzy ◽  
Classification Tasks ◽  
The Right

This paper affords the use of neuro-fuzzy technique called the Adaptive Network–based Fuzzy Inference System (ANFIS) to highlight its ability to perform fault disturbances classification tasks using extracted features based on S-transforms methods. The ANFIS model with a five-layered architecture was trained using extracted features to classify signal data comprising various faults disturbances, namely, voltage sag, swell, impulsive, interruption, notch, and pure signal.  Results obtained showed that the ANFIS model is very suitable and can generate excellent classification results provided that the right type and number of Membership Functions (MFs) are used in the classification task.

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