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Tytuł:
Vision-Based Mobile Robot Navigation
Autorzy:
Berrabah, S. A.
Colon, E.
Powiązania:
https://bibliotekanauki.pl/articles/384895.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
robot navigation
vision-based SLAM
local and global mapping
adaptive fuzzy control
Opis:
This paper presents a vision-based navigation system for mobile robots. It enables the robot to build a map of its environment, localize efficiently itself without use of any artificial markers or other modifications, and navigate without colliding with obstacles. The Simultaneous Localization And Mapping (SLAM) procedure builds a global representation of the environment based on several size limited local maps built using the approach introduced by Davison [1]. Two methods for global map are presented; the first method consists in transforming each local map into a global frame before to start building a new local map. While in the second method, the global map consists only in a set of robot positions where new local maps are started (i.e. the base references of the local maps). In both methods, the base frame for the global map is the robot position at instant . Based on the estimated map and its global position, the robot can find a path and navigate without colliding with obstacles to reach a goal defined the user. The moving objects in the scene are detected and their motion is estimated using a combination of Gaussian Mixture Model (GMM) background subtraction approach and a Maximum a Posteriori Probability Markov Random Field (MAP-MRF) framework [2]. Experimental results in real scenes are presented to illustrate the effectiveness of the proposed method.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 4; 7-13
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparative Study of Optimised Artificial Intelligence Based First Order Sliding Mode Controllers for Position Control of a DC Motor Actuator
Autorzy:
Nyong-Bassey, B. E.
Akinloye, B.
Powiązania:
https://bibliotekanauki.pl/articles/385114.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
adaptive fuzzy control
DC motor position control
genetic algorithm
particle swarm optimization (PSO)
sliding mode control
Opis:
This paper aims at critically reviewing various sliding mode control measures applied to Permanent Magnet DC Motor actuator for position control. At first, a hybrid sliding mode controller was examined with its advantages and disadvantages. Then, the smooth sliding mode controller in the same manner. The shortcomings of the two methods were overcome by proper switch design and also using tanh-sinh hyperbolic function. The sliding mode controller switches on when either disturbance or noise is detected. Genetic Algorithm Computational tuning technique is employed to optimize the gains of the controllers for optimal response.The performance of the proposed controller architecture, as well as the reviewed controllers, have been compared for performance evaluation with respect to several operating conditions. This includes load torque disturbance injection, noise injection in a feedback loop, motor nonlinearity exhibited by parameters variation, and a step change in reference input demand.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 3; 58-71
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust adaptive fuzzy filters output feedback control of strict-feedback nonlinear systems
Autorzy:
Tong, S.
Liu, C.
Li, Y.
Powiązania:
https://bibliotekanauki.pl/articles/908148.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
system nieliniowy
sterowanie rozmyte
sprzężenie zwrotne
nonlinear system
adaptive fuzzy control
backstepping
small-gain approach
K-filters
Opis:
In this paper, an adaptive fuzzy robust output feedback control approach is proposed for a class of single input single output (SISO) strict-feedback nonlinear systems without measurements of states. The nonlinear systems addressed in this paper are assumed to possess unstructured uncertainties, unmodeled dynamics and dynamic disturbances, where the unstructured uncertainties are not linearly parameterized, and no prior knowledge of their bounds is available. In recursive design, fuzzy logic systems are used to approximate unstructured uncertainties, and K-filters are designed to estimate unmeasured states. By combining backstepping design and a small-gain theorem, a stable adaptive fuzzy output feedback control scheme is developed. It is proven that the proposed adaptive fuzzy control approach can guarantee the all the signals in the closed-loop system are uniformly ultimately bounded, and the output of the controlled system converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by a simulation example and some comparisons.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 4; 637-653
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems
Autorzy:
Mnasri, C.
Gasmi, M.
Powiązania:
https://bibliotekanauki.pl/articles/930163.pdf
Data publikacji:
2011
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie rozmyte
sterowanie ślizgowe
liniowa nierówność macierzowa
system niepewny
adaptive fuzzy control
integral sliding mode
LMI
mismatched uncertainties
Opis:
Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 605-615
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal control of multistage deterministic, stochastic and fuzzy processes in the fuzzy environment via an evolutionary algorithm
Autorzy:
Stańczak, J.
Powiązania:
https://bibliotekanauki.pl/articles/970100.pdf
Data publikacji:
2005
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie rozmyte
adaptacyjny algorytm ewolucyjny
fuzzy control
multistage optimal fuzzy control
adaptive evolutionary algorithm
Opis:
This paper deals with the problem of control of deterministic, stochastic and fuzzy systems with a fixed termination time and fuzzy constraints imposed on controls and states. Constrains imposed on the system are given as membership functions of particular fuzzy sets. Transition functions for controlled systems are given as a matrix of transitions between states for a deterministic object, a matrix of probabilities of transitions for a stochastic object and a matrix of membership functions of transitions for a fuzzy system. An optimal (or sub-optimal) control is obtained using a specialized evolutionary algorithm (EA), which is a development over the previously used methods based on simple genetic algorithm. The specialized EA seems to be a very effective tool for solving such a class of optimization problems, comparing advantageously with the traditional simple genetic algorithm approach and with the previously used solutions like dynamic programming or branch and bound. The specialization of the applied EA is obtained using dedicated problem encoding, the method of ranking of genetic operators and the controlled selection of population members.
Źródło:
Control and Cybernetics; 2005, 34, 2; 525-552
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy adaptive control of nonlinear two-mass system
Autorzy:
Wróbel, K.
Powiązania:
https://bibliotekanauki.pl/articles/1193270.pdf
Data publikacji:
2016
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
fuzzy control
adaptive control
nonlinear two-mass system
compensation of friction
Opis:
In the paper, an adaptive control MRAS-based structure for nonlinear two-mass system is proposed. The performance of the control structure is supported by additional compensator. After short introduction a mathematical model of the drive system is presented. In the plant, the additional nonlinearities such as friction and mechanical hysteresis are considered. Then the structure of the fuzzy system is shown. Contrary to the majority of papers the controller considered is based on the II type fuzzy sets. Then the simulation tests showing performance of the proposed structure are presented. The drive is tested at different operation points, including low-speed region where friction plays dominant role. A comparison of classical PI controller with antiwindup and the proposed structure is presented. Then laboratory set-up with DC motor is described briefly. Experimental results are included in the paper. It is shown that the torsional vibrations of two-mass system are damped effectively. The impact of the existing delays of system is discussed. A summary is given at the end of the paper.
Źródło:
Power Electronics and Drives; 2016, 1, 36/2; 133-146
2451-0262
2543-4292
Pojawia się w:
Power Electronics and Drives
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive control of autonomous underwater vehicle based on fuzzy neural network
Autorzy:
Qin, Z.
Gu, J.
Powiązania:
https://bibliotekanauki.pl/articles/384507.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
autonomous underwater vehicle
fuzzy neural network
adaptive control
stability
Opis:
This paper presents an adaptive control method based on fuzzy neural network for Autonomous Underwater Vehicle (AUV). The Fuzzy Neural Network (FNN) could build the inverse model of AUV through on-line learning algorithm, which is free of fuzzy neural network structure knowledge and prior fuzzy inference rules. The adaptive controller for AUV based on FNN is proposed, and then the stability of the resulting AUV closed-loop control system is analyzed by Lyaponov stability theory. The validity of the proposed control method has been verified through computer simulation experiments.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 104-111
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy switching for multiple model adaptive control in manipulator robot
Autorzy:
Kharabian, B.
Bolandi, H.
Smailzadeh, S. M.
Mousavi Mashhadi, S. K.
Powiązania:
https://bibliotekanauki.pl/articles/384940.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
manipulator robot
fuzzy logic
multiple model
adaptive control
switching
Opis:
In this paper, fuzzy logic is used to perform switching controllers for Multiple Model Adaptive Control (MMAC) in manipulator robot. In the cases which uncertainty bounds of system’s parameters are large, the performance and stability issue of system are considerable concerns. Multiple Model Adaptive Control approach can be useful method to stabilize these kinds of systems. In this control method, the uncertainty bound is divided into several smaller bounds. As a result, the process of stabilization would be streamlined. In this regard, one estimation is obtained for uncertain parameter in every minor bound, and based on estimation errors designed controller can alter. In order to avoid switching controllers and pertinent challenges a summation of controllers with coefficient tuned by fuzzy logic is considered. Simulation results substantiate the efficacy of this method.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 1; 53-56
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Performance analysis of the sensorless adaptive sliding-mode neuro-fuzzy control of the induction motor drive with MRAS-type speed estimator
Autorzy:
Orłowska-Kowalska, T.
Dybkowski, M.
Powiązania:
https://bibliotekanauki.pl/articles/201110.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electrical drive
induction motor
adaptive control
sliding mode control
neuro-fuzzy control
sensorless control
Opis:
This paper discusses a model reference adaptive sliding-mode control of the sensorless vector controlled induction motor drive in a wide speed range. The adaptive speed controller uses on-line trained fuzzy neural network, which enables very fast tracking of the changing speed reference signal. This adaptive sliding-mode neuro-fuzzy controller (ASNFC) is used as a speed controller in the direct rotor-field oriented control (DRFOC) of the induction motor (IM) drive structure. Connective weights of the controller are trained on-line according to the error between the actual speed of the drive and the reference model output signal. The rotor flux and speed of the vector controlled induction motor are estimated using the model reference adaptive system (MRAS) – type estimator. Presented simulation results are verified by experimental tests performed on the laboratory-rig with DSP controller.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 1; 61-70
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Active Noise Control Using a Fuzzy Inference System Without Secondary Path Modelling
Autorzy:
Kurczyk, S.
Pawelczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/177155.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
active noise control
adaptive control
fuzzy inference system
FXLMS
sign varying step size
Opis:
For many adaptive noise control systems the Filtered-Reference LMS, known as the FXLMS algorithm is used to update parameters of the control filter. Appropriate adjustment of the step size is then important to guarantee convergence of the algorithm, obtain small excess mean square error, and react with required rate to variation of plant properties or noise nonstationarity. There are several recipes presented in the literature, theoretically derived or of heuristic origin. This paper focuses on a modification of the FXLMS algorithm, were convergence is guaranteed by changing sign of the algorithm steps size, instead of using a model of the secondary path. A Takagi-Sugeno-Kang fuzzy inference system is proposed to evaluate both the sign and the magnitude of the step size. Simulation experiments are presented to validate the algorithm and compare it to the classical FXLMS algorithm in terms of convergence and noise reduction.
Źródło:
Archives of Acoustics; 2014, 39, 2; 243-248
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of a fuzzy fractional order adaptive impedance controller with integer order approximation for stable robotic contact force tracking in uncertain environment
Autorzy:
Cao, Hongli
Powiązania:
https://bibliotekanauki.pl/articles/2106174.pdf
Data publikacji:
2022
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
adaptive impedance control
contact interactions
fractional order
fuzzy logic
integer order approximation
Opis:
Current research in robot compliance control is unable to take both transient contact force overshoots and steady-state force tracking problems into account. To address this problem, we propose a fuzzy fractional order (FO) adaptive impedance controller to avoid the force overshoots in the contact stage while keeping force error in the dynamic tracking stage, where traditional control algorithms are not competent. A percentage gain is adopted to map FO parameters to integer order (IO) parameters by their natural properties, and a fuzzy logical controller is introduced to improve the system stability. The simulation results indicate that the proposed controller can be made more stable than and superior to the general impedance controller, and the force tracking results also have been compared with the previous control methods.
Źródło:
Acta Mechanica et Automatica; 2022, 16, 1; 16--26
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An adaptive fuzzy network for control of manipulating robot dynamic behavior
Autorzy:
Petrović, P.
Milacić, V.
Powiązania:
https://bibliotekanauki.pl/articles/206872.pdf
Data publikacji:
1998
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
model dynamiczny rozmyty
robot
sterowanie adaptacyjne
adaptive fuzzy network
fuzzy dynamic model
impedance control
manipulating robots
Opis:
In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot.
Źródło:
Control and Cybernetics; 1998, 27, 4; 503-519
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy adaptive control of a class of MISO nonlinear systems
Autorzy:
Lagrat, I.
Ouakka, H.
Boutnhidi, I.
Powiązania:
https://bibliotekanauki.pl/articles/971004.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
identyfikacja
sterowanie adaptacyjne
układ nieliniowy
MISO systems
identification
fuzzy clustering
Takagi-Sugeno fuzzy model
adaptive control
nonlinear system
Opis:
This paper presents a fuzzy adaptive control of a class of MISO nonlinear systems. The dynamic behaviour of each MISO systems is composed of a nonlinear term, interactions effect between the inputs, and disturbances. In these circumstances, adaptive control becomes very difficult to implement and not always an evident task. Thus, the MISO system is approximated by the Takagi-Sugeno fuzzy model. The advantage of this approximation is beneficial in the sense that it allows for converting the nonlinear problem into a linear one. In this respect, the coupling, nonlinearity and unmodeled dynamics are easily compensated. The identification and the control are conducted at the level of each local linear model based on fuzzy approach. The computational load and the complexity of nonlinear approach are reduced and permit wide applicability. The validity and the performance are tested numerically.
Źródło:
Control and Cybernetics; 2008, 37, 1; 177-190
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Opracowanie testów symulatorowych w scenariuszach systemu ACC na stanowisku symulatora pojazdu osobowego
Development of simulation tests in ACC system scenarios for a car simulator station
Autorzy:
Papis, M.
Jastrzębski, D.
Mirosław, M.
Kopyt, A.
Dziewoński, T.
Matyjewski, M.
Powiązania:
https://bibliotekanauki.pl/articles/314353.pdf
Data publikacji:
2018
Wydawca:
Instytut Naukowo-Wydawniczy "SPATIUM"
Tematy:
tempomat adaptacyjny
symulator pojazdu
wirtualny kierowca
adaptive cruise control
driving simulation station
fuzzy-driver
Opis:
Niniejszy artykuł dotyczy opracowania testów dla symulatora pojazdu osobowego w scenariuszach systemu Adaptive Cruise Control („ACC”), czyli tempomatu adaptacyjnego. Omówiono przede wszystkim założenia eksperymentu, przebieg badania, dobór grupy badanej, planowane analizy oraz wyniki wstępnych przejazdów testowych. Celami badania są przede wszystkim porównanie przejazdów ochotników i przejazdu z aktywnym układem ACC (zaproponowanym w ramach projektu aDrive) oraz weryfikacja modelu wirtualnego kierowcy (fuzzy driver). Badanie polegające na wykonaniu dwóch zadań (scenariusz pozamiejski i mieszany) będzie przeprowadzone na zidentyfikowanej wcześniej grupie. Ocena będzie polegać na obiektywnej analizie parametrów jazdy kierowcy w wyznaczonych zadaniach zgodnie z wcześniej ustalonymi kryteriami (np. prędkość, odległość od pojazdu, odstęp czasowy Time Gap).
This paper presents development of simulation tests for a driving simulation station in ACC (Adaptive Cruise Control) system scenarios. Experiment assumptions, simulation tests procedures, selection of the tested group, analyzed parameters and the results of the preliminary tests were discussed. The comparison between ride parameters of volunteers and a car equipped with ACC system and validation of previously created fuzzy-driver model are main aims of the study. The experiment, composed with two exercises (outside urban and mixed scenarios) will be performed on previously identified tested group of volunteers. Ride parameters, such as velocity, distance to a leading car, time gap, will be assessed according to a prepared procedure.
Źródło:
Autobusy : technika, eksploatacja, systemy transportowe; 2018, 19, 4; 75-81
1509-5878
2450-7725
Pojawia się w:
Autobusy : technika, eksploatacja, systemy transportowe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor
Autorzy:
Simoud, Lahcen
Kadri, Boufeldja
Bousserhane, Ismail Khalil
Powiązania:
https://bibliotekanauki.pl/articles/384825.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
quadrotor UAV
sliding mode control
adaptive PD-Slidng mode controller
fuzzy PD-sliding mode
Opis:
This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 2; 15-24
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
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