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Encyklopedie: The educational encyclopedia, automatisation and control systems HP: http://users.telenet.be/educypedia/index.htm http://users.telenet.be/educypedia/electronics/control-systems.htm Na tchto stranch: http://vorlon.cwru.edu/~vxl11/NetBots/thesisc.pdf je studie (80 stran):

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Na stranch: http://vorlon.cwru.edu/~wsn/theses/Hao_Zhang_thesis.pdf je studie (str.):

Anotace: vstupy s databz WOS.CUNI.CZ a INOV. pi zadn rznch kombinac klovch slov. Study of learning fuzzy controllers Kazemian HB EXPERT SYSTEMS 18: (4) 186-193 SEP 2001 Document type: Article Language: English Cited References: 29 Times Cited: 1 Abstract: This paper compares two types of learning fuzzy controllers, the self-organizing fuzzy (SOF) controller and the hybrid self-organizing fuzzy proportional-integral-derivative (SOF-PID) controller. The SOF is an extension of the rule-based fuzzy controller, with additional rule creation and rule modification mechanisms. The hybrid SOF-PID comprises the SOF as a learning supervisory controller readjusting the proportional gain of the PID controller at the actuator section, when the system is on line. The structures of the SOF controller and the hybrid SOF-PID controller are studied. The performances of the SOF controller and the hybrid SOF-PID controller are compared by applying them to a two-link non-linear revolutejoint robot arm. For the path tracking experiments, the hybrid SOF-PID controller followed the required path more closely and smoothly than the SOF controller. The results of the experiments for the SOF controller and the hybrid SOF-PID controller are also compared with those obtained with a conventional PID controller, using the same values supplied at the setpoint.

Author Keywords: self-organizing fuzzy controller, hybrid self-organizing fuzzy PID controller, robot arm KeyWords Plus: PID CONTROL, DESIGN, ROBOT Addresses: Kazemian HB, London Guildhall Univ, Comp Informat Syst & Math Dept, 100 Minories, London EC3N 1JY, England. Publisher: BLACKWELL PUBL LTD, OXFORD IDS Number: 477RB ISSN: 0266-4720

Symbolic synthesis of finite-state controllers for request-response specifications Wallmeier N, Hutten P, Thomas W IMPLEMENTATION AND APPLICATION OF AUTOMATA, PROCEEDINGS LECTURE NOTES IN COMPUTER SCIENCE 2759: 11-22 2003 Document type: Article Language: English Cited References: 9 Times Cited: 0 Abstract: We present a method to solve certain infinite games over finite state spaces and apply this for the automatic synthesis of finite-state controllers. A lift-controller problem serves as an example for which the implementation of our algorithm has been tested. The specifications consist of safety conditions and so-called request-response-conditions (which have the form after visiting a state of P later a state of R is visited). Many real-life problems can be modeled in this framework. We sketch the theoretical solution which synthesizes a finite-state controller for satisfiable specifications. The core of the implementation is a convenient input language (based on enriched Boolean logic) and a realization of the abstract algorithms with OBDDs (ordered binary decision diagrams). Addresses: Wallmeier N, Rhein Westfal TH Aachen, Lehrstuhl Informat 7, D-52056 Aachen, Germany. Rhein Westfal TH Aachen, Lehrstuhl Informat 7, D-52056 Aachen, Germany. Publisher: SPRINGER-VERLAG BERLIN, BERLIN IDS Number: BX41A ISSN: 0302-9743

______ Hierarchical fuzzy logic controller for a flexible link robot arm performing constrained motion tasks Lin J IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS 150: (4) 355-364 JUL 2003 Document type: Article Language: English Cited References: 27 Times Cited: 0 Abstract: An examination is performed on the dynamics and control issues for a robotic manipulator with link structural flexibility modelled during the execution of a task that requires the robot tip to contact fixed rigid objects. A multi-time-scale fuzzy logic controller is applied to this

system. The large-scale system is decomposed into a finite number of reduced-order subsystems using the singular perturbation approach. A hierarchical ordering of fuzzy rules is used to reduce the size of the inference engine. Real-time implementation of fuzzy controllers can help reduce the burden of large-sized rule sets by fusing sensory data before input and the systems output to the inference engine. Using this approach the control of the force and position of the robot end point is possible while the end-effector moves on the constraint surface. KeyWords Plus: SINGULAR PERTURBATION APPROACH, JOINT ROBOTS, MANIPULATORS, FORCE, STABILITY, TRACKING Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jing Li 320, Taiwan. Ching Yun Inst Technol, Dept Mech Engn, Jing Li 320, Taiwan. Publisher: IEE-INST ELEC ENG, HERTFORD IDS Number: 724JN ISSN: 1350-2379

A new approach to global optimization using a closed loop control system with fuzzy logic controller Ustundag B, Eksin I, Bir A ADVANCES IN ENGINEERING SOFTWARE 33: (6) 309-318 JUN 2002 Document type: Article Language: English Cited References: 30 Times Cited: 0 Abstract: In this study, a new global optimization method that uses a closed loop control system is proposed. If a plant, in a feedback control system with a reference input r, is replaced by the objective function f ((x) under bar) then the output of a properly designed controller approaches the solution of the equation f((x) under bar) - (r) under bar = 0 at the steady state. An algorithm is then designed such that the reference point and the objective function representing the plant are continuously changed within the control loop. This change is done in accordance with the result of the steady-state controller output. This algorithm can find the global optimum point in a bounded feasible region. Even though the new approach is applicable to the optimization of single and multivariable non-linear objective functions,- only the results related to some test functions with single variable are presented. The results of the new algorithm are compared with some well-known global optimization algorithms. (C) 2002 Elsevier Science Ltd. All rights reserved. Author Keywords: global optimization, feedback control system, fuzzy logic controller, root search algorithm Addresses: Ustundag B, Istanbul Tech Univ, Elect & Elect Engn Fac, TR-80626 Istanbul, Turkey. Istanbul Tech Univ, Elect & Elect Engn Fac, TR-80626 Istanbul, Turkey. Publisher: ELSEVIER SCI LTD, OXFORD IDS Number: 604WH ISSN: 0965-9978

Hybrid vision/force control at corners in planar robotic-contour following Baeten J, De Schutter J IEEE-ASME TRANSACTIONS ON MECHATRONICS 7: (2) 143-151 JUN 2002 Document type: Article Language: English Cited References: 21 Times Cited: 1 Abstract: The accuracy and execution speed of a force controlled contour-following task is limited if the shape of the work-piece is unknown. This is even more true when the workpiece contour contains corners. This paper shows how a hybrid vision/force control approach at corners in planar-contour following results in a more accurate and faster task execution. The vision system is used to measure online the contour and to watch out for corners. The edge is correctly located by compensating the compliance of the tool/camera setup which affects the contour measurement. A simple corner-detection algorithm is presented. Once a corner is detected, the finite-state controller is activated to take the corner in the best conditions. Experimental results are presented to validate the approach. Author Keywords: corner detection, force control, hybrid position/force, machine vision, robotic control, sensor fusion, visual servoing KeyWords Plus: FORCE, ENVIRONMENT, FORMALISM, MOTION Addresses: Baeten J, Katholieke Univ Leuven, Dept Engn Mech, B-3001 Heverlee, Belgium. Katholieke Univ Leuven, Dept Engn Mech, B-3001 Heverlee, Belgium. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 565JM --------Direct adaptive fuzzy output tracking control of nonlinear systems Tong SC, Li HX FUZZY SETS AND SYSTEMS 128: (1) 107-115 MAY 16 2002 Document type: Article Language: English Cited References: 16 Times Cited: 0 Abstract: A stable direct adaptive fuzzy output tracking control scheme is developed for the singleinput-single-output (SISO) unknown nonlinear systems, Using a high-gain observer. the proposed adaptive fuzzy algorithm does not require the state variables to be measurable, First, a direct adaptive fuzzy state controller is constructed with the aid of its H-infinity control technique to achieve the H-infinity tracking performance. After-wards, a high-gain observer is used to estimate the system states, by which the above adaptive fuzzy state controller becomes an adaptive fuzzy output feedback control. The proposed control scheme can guarantee the stability of the closed-loop system and the good tracking performance as well. (C) 2002 Elsevier Science B.V. All rights reserved. Author Keywords: fuzzy control, high-gain observer, nonlinear systems, adaptive control, stability ISSN: 1083-4435

Addresses: Tong SC, Liaoning Inst Technol, Dept Basic Math, Jinzhou 121001, Peoples R China. Liaoning Inst Technol, Dept Basic Math, Jinzhou 121001, Peoples R China. City Univ Hong Kong, Dept Mfg Engn & Engn Management, Hong Kong, Peoples R China. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 553JW ISSN: 0165-0114

State controllability and optimal regulator control of time-delayed systems Klein EJ, Ramirez WF INTERNATIONAL JOURNAL OF CONTROL 74: (3) 281-289 FEB 2001 Document type: Article Language: English Cited References: 9 Times Cited: 1 Abstract: An important recent advance in the solution of the optimal regulator control problem for timedelayed systems is extended here to multivariable systems and to systems which exhibit multiple time delays. The state equations are partitioned into discrete and continuous portions through a state transformation such that the solution of the optimal regulator problem reduces to finding a steady-state controller gain based on both a discrete and continuous Riccati matrix. The discrete Ricatti matrix is found independently of the continuous solution due to the partitioning of the state equations, and it is not necessary to solve the system of partial differential Riccati equations which arise in the traditional solution of the linear quadratic regulator (LQR) problem for time-delayed systems. In addition, through this state transformation it becomes possible to extend the standard state controllability tests to timedelayed systems. It is shown that the controllability of the transformed state space is necessary for a feasible solution to the optimal regulator problem for time-delayed systems. This is an important test to determine the practicality of various time-delayed system realizations. Numerical examples illustrate the application of the technique to systems exhibiting multiple time delays, multivariable systems and time-series models. It is shown that the classic WoodBerry distillation model realization does not possess state controllability properties which explains why this system has been historically di? cult to control using feedback techniques. KeyWords Plus:STABILIZATION, EQUATION Addresses: Ramirez WF, Univ Colorado, Dept Chem Engn, Campus Box 424, Boulder, CO 80309 USA. Univ Colorado, Dept Chem Engn, Boulder, CO 80309 USA. Publisher: TAYLOR & FRANCIS LTD, LONDON IDS Number: 386BU ISSN: 0020-7179 ----Fuzzy network model-based fuzzy state controller design Kroll A, Bernd T, Trott S IEEE TRANSACTIONS ON FUZZY SYSTEMS 8: (5) 632-644 OCT 2000

Document type: Article Language: English Cited References: 36 Times Cited: 0 Abstract: The performance of model-based controller design relies heavily on the quality and suitability of the utilized process model. This contribution proposes a fuzzy network based nonlinear controller design methodology. Fuzzy networks are a model approach combining high approximation quality with high interpretability. The input/output (I/O) models commonly used for identification are transformed to fuzzy state-space models, Transferring and adjusting methods from linear state-space theory a control concept consisting of a fuzzy state controller and an adaptive set-point filter for nonlinear dynamic processes is deduced. The capability of the method is demonstrated for a hydraulic drive. Author Keywords: adaptive set-point filtering, fuzzy control, fuzzy models, fuzzy networks, fuzzy state-space controller, hydraulic drives, nonlinear control KeyWords Plus: CONTROL-SYSTEMS, STABILITY, PERFORMANCE Addresses: Kroll A, ABB Corp Res Ctr, D-69115 Heidelberg, Germany. ABB Corp Res Ctr, D-69115 Heidelberg, Germany. Rexroth Indramat GMBH, Machine Tool Syst Dev, D-97816 Lohr Am Main, Germany. Alice Software Serv GMBH, D-40699 Erkrath, Germany. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 363DU ----KS: fuzzy control Multiple-valued logic and artificial intelligence fundamentals of fuzzy control revisited Moraga C, Trillas E, Guadarrama S ARTIFICIAL INTELLIGENCE REVIEW 20: (3-4) 169-197 DEC 2003 Document type: Article Language: English Cited References: 52 Times Cited: 0 Abstract: This paper reviews one particular area of Artificial Intelligence, which roots may be traced back to Multiple- valued Logic: the area of fuzzy control. After an introduction based on an experimental scenario, basic cases of fuzzy control are presented and formally analyzed. Their capabilities are discussed and their constraints are explained. Finally it is shown that a parameterization of either the fuzzy sets or the connectives used to express the rules governing a fuzzy controller allows the use of new optimization methods to improve the overall performance. Author Keywords: approximate reasoning, fuzzy control, fuzzy if-then rules KeyWords Plus: CONTROL-SYSTEMS, CONNECTIVES Addresses: Moraga C, Univ Politecn Madrid, Dept Artificial Intelligence, Campus Montegancedo, E-28660 Madrid, Spain. Univ Politecn Madrid, Dept Artificial Intelligence, E-28660 Madrid, Spain. ISSN: 1063-6706

Publisher: KLUWER ACADEMIC PUBL, DORDRECHT IDS Number: 750BK ISSN: 0269-2821 Stable direct adaptive fuzzy control for a class of MIMO non-linear systems Zhang TP INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 34: (6) 375-388 MAY 15 2003 Document type: Article Language: English Cited References: 17 Times Cited: 0 Abstract: Two new schemes of direct adaptive fuzzy controller for a class of multi-input multi-output non-linear systems with unknown constant gains or function gains are proposed in this paper. The design is based on a modified Lyapunov function and the approximation capability of the first type fuzzy system. The approach is able to avoid the requirement of the upper bound of the first-time derivative of the control gain, which is assumed to know a priori in some of the existing adaptive fuzzy/neural network control schemes. In addition, it is also able to avoid the controller singularity problem. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero. The simulation results verify the effectiveness the proposed controllers and the theoretical discussion. KeyWords Plus: NETWORKS, DESIGN Addresses: Zhang TP, Yangzhou Univ, Coll Informat Engn, Dept Comp Sci, Yangzhou 225009, Peoples R China. Yangzhou Univ, Coll Informat Engn, Dept Comp Sci, Yangzhou 225009, Peoples R China. Publisher: TAYLOR & FRANCIS LTD, ABINGDON IDS Number: 749PQ ISSN: 0020-7721

---PI predictive fuzzy controllers for electrical drive speed control: methods and software for stable development Precup RE, Preitl S, Faur G COMPUTERS IN INDUSTRY 52: (3) 253-270 DEC 2003 Document type: Article Language: English Cited References: 28 Times Cited: 0 Abstract: The paper presents two structures of PI predictive fuzzy controllers (PI-P-FCs) with first- and second-order prediction. The PI-P-FCs are meant for the speed control of electrical drives with variable inertia used in several industrial applications. The new development method for these PI-P-FCs is based on guaranteeing a desired domain for the phase margin of the fuzzy control systems (FCSs) with PI-P-FCs when they are considered to be equivalent to the linear control systems with linear (conventional) PI controllers. It is also proposed a stability analysis method for the FCSs with PI-P-FCs employing Popovs hyperstability theory and a discrete-time state space mathematical model of the controlled

plant. A software tool for the stability analysis of the FCSs, developed in the Matlab and Simulink environment, is presented. (C) 2003 Elsevier B.V. All rights reserved. Author Keywords: fuzzy control, PI predictive fuzzy controllers, phase margin, electrical drives with variable inertia, stability analysis software tool KeyWords Plus: CONTROL-SYSTEMS, STABILITY, LOGIC Addresses: Precup RE, Politehn Univ Timisoara, Dept Automat & Ind Informat, Fac Automat & Comp, Bd V Parvan 2, RO-1900 Timisoara, Romania. Politehn Univ Timisoara, Dept Automat & Ind Informat, Fac Automat & Comp, RO-1900 Timisoara, Romania. W Bank Arad Sann Paolo Imi, Dept Informat Technol, RO-2900 Arad, Romania. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 746WU --Neuro-fuzzy chip to handle complex tasks with analog performance Navas-Gonzalez RD, Vidal-Verdu F, Rodriguez-Vazquez A IEEE TRANSACTIONS ON NEURAL NETWORKS 14: (5) 1375-1392 SEP 2003 Document type: Article Language: English Cited References: 30 Times Cited: 0 Abstract: This paper presents a mixed-signal neuro-fuzzy controller chip which, in terms of power consumption, input-output delay, and precision, performs as a fully analog implementation. However, it has much larger complexity than its purely analog counterparts. This combination of performance and complexity is achieved through the use of a mixedsignal architecture consisting of a programmable analog core of reduced complexity, and a strategy, and the associated mixed-signal circuitry, to cover the whole input space through the dynamic programming of this core. Since errors and delays are proportional to the reduced number of fuzzy rules included in the analog core, they are much smaller than in the case where the whole rule set is implemented by analog circuitry. Also, the area and the power consumption of the new architecture are smaller than those of its purely analog counterparts simply because most rules are implemented through programming. The Paper presents a set of building blocks associated to this architecture, and gives results for an exemplary prototype. This prototype, called multiplexing fuzzy controller (MFCON), has been realized in a CMOS 0.7 mum standard technology. It has two inputs, implements 64 rules, and features 500 ns of input to output delay with 16-mW of power consumption. Results from the chip in a control application with a dc motor are also provided. Author Keywords: fuzzy-control, fuzzy-hardware, mixed-signal KeyWords Plus: CONTROLLERS, DESIGN, SYSTEMS, LOGIC, IMPLEMENTATION, COMPILER Addresses: Navas-Gonzalez RD, Univ Malaga, Dept Elect, E-29071 Malaga, Spain. Univ Malaga, Dept Elect, E-29071 Malaga, Spain. Univ Sevilla, Dept Analog & Mixed Circuit Design, E-41012 Seville, Spain. ISSN: 0166-3615

Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, PISCATAWAY IDS Number: 741UN --An analytic approach to fuzzy robot control synthesis Novakovic B, Scap D, Novakovic D ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 13: (1) 71-83 FEB 2000 Document type: Article Language: English Cited References: 25 Times Cited: 2 Abstract: The main advantage of a fuzzy control system is the fact that no mathematical model of the controlled plant is required. Instead of that model, it is necessery to construct a fuzzy rule base for each particular application case. A vexing problem in fuzzy control, however, is the exponential growth in rules as the number of variables increases. This problem is avoided here by the introduction of a new, nonconventional analytic method for synthesising the fuzzy control. For this purpose a new analytic function is defined that determines the positions of the centres of the output fuzzy sets, instead of the definition of a fuzzy rule base. This function can be adapted to each concrete application case by changing the free fuzzy-set parameters. The proposed analytic approach to the synthesis of fuzzy control, has been tested by a numerical simulation of an analytic fuzzy control system for a robot with four degrees of freedom. (C) 2000 Elsevier Science Ltd. All rights reserved. Author Keywords: analytic fuzzy control, adaptive fuzzy control, robot control, control synthesis, discrete-time domain KeyWords Plus: SYSTEMS, LOGIC, DESIGN, MODEL Addresses: Novakovic D, Univ Zagreb, FSB, Luciceva 5, POB 509, Zagreb 10000, Croatia. Univ Zagreb, FSB, Zagreb 10000, Croatia. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 276MT --Robust adaptive control of robot manipulators using generalized fuzzy neural networks Er MJ, Gao Y IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 50: (3) 620-628 JUN 2003 Document type: Article Language: English Cited References: 18 Times Cited: 2 Abstract: This paper presents a robust adaptive fuzzy neural controller (AFNC) suitable for motion control of multilink robot manipulators. The proposed controller has the following salient features: 1) self-organizing fuzzy neural structure, i.e., fuzzy control rules can be generated or deleted automatically according to their significance to the control system and the complexity of the mapped system and no predefined fuzzy rules are, required; 2) fast online learning ability, i.e., no prescribed training models are needed for online learning and weights of the fuzzy neural controller are modified without any iterations; 3) fast convergence of tracking errors, i.e., manipulator joints can track the desired trajectories very quickly; 4) adaptive control, i.e., structure and parameters of the AFNC can be self-adaptive ISSN: 0952-1976 ISSN: 1045-9227

in the presence of disturbances to maintain high control performance; and 5) robust control, where asymptotic stability of the control system is established using the Lyapunov theorem. Experimental evaluation conducted on an industrial selectively compliant assembly robot arm demonstrates, that excellent. tracking performance can be achieved under time-varying conditions. Author Keywords: adaptive control, fuzzy logic, Lyapunov methods, manipulators, neural networks (NNs) Addresses: Er MJ, Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore. Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, PISCATAWAY IDS Number: 686VK ISSN: 0278-0046

---Modelling, control, and stability analysis of non-linear systems using generalized fuzzy neural networks Gao Y, Er MJ INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 34: (6) 427-438 MAY 15 2003 Document type: Article Language: English Cited References: 17 Times Cited: 0 Abstract: This paper presents an adaptive fuzzy neural controller (AFNC) suitable for modelling and control of MIMO non-linear dynamic systems. The proposed AFNC has the following salient features: (1) fuzzy neural control rules can be generated or deleted dynamically and automatically; (2) uncertain MIMO non-linear systems can be adaptively modelled on line; (3) adaptation and learning speed is fast; (4) expert knowledge can be easily incorporated into the system; (5) the structure and parameters of the AFNC can be selfadaptive in the presence of uncertainties to maintain a high control performance; and (6) the asymptotical stability of the system is established using the Lyapunov approach. Simulation studies on a two-link robot manipulator show that the performance of the proposed controller is better than that of some existing fuzzy/neural methods. KeyWords Plus: ROBOT MANIPULATORS Addresses: Gao Y, Nanyang Technol Univ, Sch Elect & Elect Engn, Instrumentat & Syst Engn Lab, Singapore 639798, Singapore. Nanyang Technol Univ, Sch Elect & Elect Engn, Instrumentat & Syst Engn Lab, Singapore 639798, Singapore. Publisher: TAYLOR & FRANCIS LTD, ABINGDON IDS Number: 749PQ --Output-feedback control of nonlinear systems using direct adaptive fuzzy-neural controller Wang WY, Leu YG, Lee TT FUZZY SETS AND SYSTEMS 140: (2) 341-358 DEC 1 2003 ISSN: 0020-7721

Document type: Article

Language: English

Cited References: 39

Times Cited: 0

Abstract: In this paper, a direct adaptive fuzzy-neural output-feedback controller (DAFOC) for a class of uncertain nonlinear systems is developed under the constraint that only the system output is available for measurement. An output feedback control law and an update law are derived for on-line tuning the weighting factors of the DAFOC. By using strictly positive-real Lyapunov theory, the stability of the closed-loop system compensated by the DAFOC can be verified. Moreover, the proposed overall control scheme guarantees that all signals involved are bounded and the output of the closed-loop system asymptotically tracks the desired output trajectory. To demonstrate the effectiveness of the proposed method, simulation results are illustrated in this paper. (C) 2002 Elsevier B.V. All rights reserved. Author Keywords: fuzzy-neural control, direct adaptive control, output feedback control, nonlinear systems KeyWords Plus: DYNAMICAL-SYSTEMS, SISO SYSTEMS, NETWORKS, OBSERVER Addresses: Wang WY, Fu Jen Cathiolic Univ, Dept Elect Engn, 510, Chung Cheng Rd, Taipei 24205, Taiwan. Fu Jen Cathiolic Univ, Dept Elect Engn, Taipei 24205, Taiwan. Hwa Hsia Coll Technol, Dept Elect Engn, Taipei, Taiwan. Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu, Taiwan. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 742FZ ISSN: 0165-0114

--Online adaptive fuzzy neural identification and control of a class of MIMO nonlinear systems Gao Y, Er MJ IEEE TRANSACTIONS ON FUZZY SYSTEMS 11: (4) 462-477 AUG 2003 Document type: Article Language: English Cited References: 32 Times Cited: 0 Abstract: This paper presents a robust adaptive fuzzy neural controller (AFNC) suitable for identification and control of a class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems. The proposed controller has the following salient features: 1) selforganizing fuzzy neural structure, i.e., fuzzy control rules can be generated or deleted automatically; 2) online learning ability of uncertain MIMO nonlinear systems; 3) fast learning speed; 4) fast convergence of tracking errors; 5) adaptive control, where structure and parameters of the AFNC can be self-adaptive in the presence of disturbances to maintain high control performance; 6) robust control, where global stability of the system is established using the Lyapunov approach. Simulation studies on an inverted pendulum and a two-link robot manipulator show that the performance of the proposed controller is superior. Author Keywords: fuzzy logic, Lyapunov theorem, multiple-input-multiple-output, (MIMO) nonlinear systems, neural networks, robust adaptive control KeyWords Plus: ROBOT MANIPULATORS, TRACKING CONTROL, NETWORKS

Addresses: Gao Y, Nanyang Technol Univ, Sch Elect & Elect Engn, Instrumentat & Syst Engn Lab, Singapore 639798, Singapore. Nanyang Technol Univ, Sch Elect & Elect Engn, Instrumentat & Syst Engn Lab, Singapore 639798, Singapore. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, PISCATAWAY IDS Number: 712GP ISSN: 1063-6706

--Stable fuzzy neural tracking control of a class of unknown nonlinear systems based on fuzzy hierarchy error approach Wu A, Tam PKS IEEE TRANSACTIONS ON FUZZY SYSTEMS 10: (6) 779-789 DEC 2002 Document type: Article Language: English Cited References: 23 Times Cited: 0 Abstract: In this paper, a stable fuzzy neural tracking control of a class of unknown nonlinear systems based on the fuzzy hierarchy approach is proposed. The adaptive fuzzy neural controller is constructed from the fuzzy neural network with a set of fuzzy rules. The corresponding network parameters are adjusted online according to the control law and update law for the purpose of controlling the plant to track a given trajectory. A stability analysis of the unknown nonlinear system is discussed based on the Lyapunov principle. In order to improve the convergence of the nonlinear dynamical systems, a fuzzy hierarchy error approach (FHEA) algorithm is incorporated into the adaptive update and control scheme. The simulation results for an unstable nonlinear plant demonstrate the control effectiveness of the proposed adaptive fuzzy neural controller and are consistent with the theoretical analysis. Author Keywords: adaptive fuzzy neural control, fuzzy hierarchy approach, fuzzy neural tracking control, unknown nonlinear systems KeyWords Plus: ADAPTIVE-CONTROL, TIME-SYSTEMS, NETWORKS, DESIGN Addresses: Wu A, Huazhong Univ Sci & Technol, Sch Mech Engn, Ctr Numer Control Engn, Wuhan 430074, Peoples R China. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 623HE --Adaptive control of robot manipulators using fuzzy neural networks Gao Y, Er MJ, Yang S IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 48: (6) 1274-1278 DEC 2001 Document type: Article Language: English Cited References: 7 Times Cited: 3 Abstract: This letter presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: 1) self-organizing fuzzy neural structure; 2) online learning of the robot dynamics; 3) fast convergence of tracking error; and 4) adaptive control. Computer simulation results of a twolink manipulator demonstrate that excellent tracking performance can be achieved under external disturbances. ISSN: 1063-6706

Author Keywords: adaptive control, fuzzy neural networks, multilink manipulators Addresses: Gao Y, Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore. Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 499KB ---Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator Subudhi B, Morris AS PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART IJOURNAL OF SYSTEMS AND CONTROL ENGINEERING 217: (I5) 387-399 2003 Document type: Article Language: English Cited References: 20 Times Cited: 0 Abstract: In this paper, new fuzzy and neuro-fuzzy approaches to tip position regulation of a flexible-link manipulator are presented. Firstly, a non-collocated, proportional-derivative (PD) type, fuzzy logic controller (FLC) is developed. This is shown to perform better than typical model-based controllers (LQR and PD). Following this, an adaptive neuro-fuzzy controller (NFC) is described that has been developed for situations where there is payload variability. The proposed NFC tunes the input and output scale parameters of the fuzzy controller on-line. The efficacy of the NFC has been evaluated by comparing it with a fuzzy model reference adaptive controller (FMRC). Author Keywords: fuzzy logic, neural network, flexible link, manipulator, tip position KeyWords Plus: DESIGN Addresses: Morris AS, Univ Sheffield, Dept Automat Control & Syst Engn, Mappin St, Sheffield S1 3JD, S Yorkshire, England. Publisher: PROFESSIONAL ENGINEERING PUBLISHING LTD, BURY ST EDMUNDS IDS Number: 742RJ ---A quantitative analysis of evolvability for an evolutionary fuzzy logic controller Lee SI, Cho SB INTEGRATED COMPUTER-AIDED ENGINEERING 10: (4) 369-385 2003 Document type: Article Language: English Cited References: 27 Times Cited: 0 Abstract: This paper presents a quantitative analysis of evolvability with evolutionary activity statistics in an evolutionary fuzzy system. In general, one can estimate the performance of an evolved fuzzy controller by its fitness. However, it is difficult to explain how its fitness or adaptability has been obtained. Evolutionary activity is used to measure the evolvability of fuzzy rules and explain why salient rules have higher evolvability. A genetic algorithm is used to construct a fuzzy logic controller for a mobile robot in simulation ISSN: 0959-6518 ISSN: 0278-0046

environments. The quantitative analysis shows that sufficient evolvability is maintained during the evolution and that it contributes to the construction of the optimal controller. KeyWords Plus: CONTROL-SYSTEMS Addresses: Lee SI, ATR Int, 2-2-2 Hikaridai, Seika, Kyoto 6190288, Japan. ATR Int, Seika, Kyoto 6190288, Japan. Publisher: IOS PRESS, AMSTERDAM IDS Number: 740DN --Self tuning fuzzy PID type load and frequency controller Yesil E, Guzelkaya M, Eksin I ENERGY CONVERSION AND MANAGEMENT 45: (3) 377-390 FEB 2004 Document type: Article Language: English Cited References: 31 Times Cited: 0 Abstract: In this paper, a self tuning fuzzy PID type controller is proposed for solving the load frequency control (LFC) problem. The fuzzy PID type controller is constructed as a set of control rules, and the control signal is directly deduced from the knowledge base and the fuzzy inference. Moreover, there exists a self tuning mechanism that adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the PID type fuzzy logic controller in an on-line manner. The self tuning mechanism depends on the peak observer idea, and this idea is modified and adapted to the LFC problem. A two area interconnected system is assumed for demonstrations. The proposed self tuning fuzzy PID type controller has been compared with the fuzzy PID type controller without a self tuning mechanism and the conventional integral controller through some performance indices. (C) 2003 Elsevier Ltd. All rights reserved. Author Keywords: fuzzy PID type controller, self tuning, load frequency control KeyWords Plus: AUTOMATIC-GENERATION CONTROL, NEURAL NETWORKS, POWER-SYSTEM, DESIGN Addresses: Guzelkaya M, Istanbul Tech Univ, Fac Elect & Elect Engn, Control Engn Div, TR-80626 Istanbul, Turkey. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 738YU ISSN: 0196-8904 ISSN: 1069-2509

---Hierarchical fuzzy logic controller for a flexible link robot arm performing constrained motion tasks Lin J IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS 150: (4) 355-364 JUL 2003 Document type: Article Language: English Cited References: 27 Times Cited: 0

Abstract:An examination is performed on the dynamics and control issues for a robotic manipulator with link structural flexibility modelled during the execution of a task that requires the robot tip to contact fixed rigid objects. A multi-time-scale fuzzy logic controller is applied to this system. The large-scale system is decomposed into a finite number of reduced-order subsystems using the singular perturbation approach. A hierarchical ordering of fuzzy rules is used to reduce the size of the inference engine. Real-time implementation of fuzzy controllers can help reduce the burden of large-sized rule sets by fusing sensory data before input and the systems output to the inference engine. Using this approach the control of the force and position of the robot end point is possible while the end-effector moves on the constraint surface. KeyWords Plus: SINGULAR PERTURBATION APPROACH, JOINT ROBOTS, MANIPULATORS, FORCE, STABILITY, TRACKING Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jing Li 320, Taiwan Ching Yun Inst Technol, Dept Mech Engn, Jing Li 320, Taiwan. Publisher: IEE-INST ELEC ENG, HERTFORD IDS Number: 724JN --Self-tuning of PID-type fuzzy logic controller coefficients via relative rate observer Guzelkaya M, Eksin I, Yesil E ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 16: (3) 227-236 APR 2003 Document type: Article Language: English Cited References: 25 Times Cited: 0 Abstract: In this study, a new method is proposed for tuning the coefficients of PID-type fuzzy logic controllers (FLCs). The new method adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to tile integral coefficient of the PID-type FLC using a fuzzy inference mechanism in an on-line manner. The fuzzy inference mechanism that adjusts the related coefficients has two inputs, one of which is called normalized acceleration and the other one is the classical error. The normalized acceleration gives the relative rate information about the fastness or slowness of tile system response. An appropriate rule-base is generated for the adaptation of the derivative coefficient of the PID-type FLC using these two input variables. The integral coefficient is then updated as the reciprocal of the derivative coefficient. The robustness and effectiveness of the new self-tuning algorithm have been compared with the other related tuning methods proposed in the literature through simulations. The simulations are done on a second-order system with varying parameters and time delay. (C) 2003 Elsevier Ltd. All rights reserved. Author Keywords: PID-type fuzzy controller, self-tuning, scaling factors KeyWords Plus: METHODOLOGY, GAIN Addresses: Guzelkaya M, Istanbul Tech Univ, Control Syst Div, Elect & Elect Fac, TR80626 Istanbul, Turkey. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 720TH ISSN: 0952-1976 ISSN: 1350-2379

Two-time scale fuzzy logic controller of flexible link robot arm Lin J, Lewis FL FUZZY SETS AND SYSTEMS 139: (1) 125-149 OCT 1 2003 Document type: Article Language: English Cited References: 25 Times Cited: 0 Abstract: A flexible link arm is a distributed parameter system of infinite order, but due to onboard computer limitations, sensor inaccuracy, and system noise, it must be approximated by a lower-order model and controlled by a finite-order controller. The main object of this paper is concentrated on the hierarchical fuzzy logic by the singular perturbation approach for flexible-link robot arm control. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied for such system. In this paper, the fast-subsystem controller will be damp out the vibration of the flexible structure by two hierarchical fuzzy logic controllers. Moreover, the other slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundarylayer correction based on singular perturbations. In addition, various case studies are given in illustration to verify the control algorithm. It appears that the fuzzy control method is quite useful as regards reliability and robustness. (C) 2002 Elsevier B.V. All rights reserved. Author Keywords: reduced-order, singular perturbation, hierarchical fuzzy logic control KeyWords Plus: SINGULAR PERTURBATION APPROACH, MANIPULATORS, SYSTEMS Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jung Li City 320, Taiwan. Ching Yun Inst Technol, Dept Mech Engn, Jung Li City 320, Taiwan. Univ Texas, Automat & Robot Res Inst, Arlington, TX 76019 USA. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 721FY ISSN: 0165-0114

---Nonlinear internal model control using neural networks and fuzzy logic: Application to an electromechanical process Haber RE, Alique JR, Alique A, Haber RH COMPUTATIONAL SCIENCE - ICCS 2003, PT I, PROCEEDINGS LECTURE NOTES IN COMPUTER SCIENCE 2657: 351-360 2003 Document type: Article Language: English Cited References: 13 Times Cited: 0 Abstract: This study explores the use of the internal-model control (IMC) paradigm using artificial neural networks (ANNs) and fuzzy logic (FL) to consider a force-control problem involving a complex electromechanical system, represented here by the machining process. The main goal is to control a single output variable, cutting force, by changing a single input variable, feed rate. This scheme consists of a dynamic model using ANNs to estimate process output and a fuzzy-logic controller (FLC) with the same static gain as the inverse model to determine the control inputs (feed rate) necessary to keep the cutting force constant. Three approaches, the fuzzy-logic controller (IMC), the internal-model controller (IMC) and a neuro-fuzzy controller (NFC), are simulated and their performances are assessed in terms of several performance measurements. The results demonstrate that the NFC strategy provides better disturbance rejection than IMC and FLC for the cases analysed.

KeyWords Plus: FORCE CONTROL Addresses: Haber RE, CSIC, Inst Automat Ind, Km 22, 800 N-3, Madrid 28500, Spain. CSIC, Inst Automat Ind, Madrid 28500, Spain. Publisher: SPRINGER-VERLAG BERLIN, BERLIN IDS Number: BX28J --Remote fuzzy logic control of networked control system via Profibus-DP Lee KC, Lee S, Lee MH IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 50: (4) 784-792 AUG 2003 Document type: Article Language: English Cited References: 20 Times Cited: 0 Abstract: This paper focuses, on the feasibility of fuzzy logic control for networked control systems (NCSs). In,order to evaluate its feasibility, a networked control system for servo motor control is implemented on a Profibus-DP network. The NCS consists of several independent, but interacting, processes running on two separate stations. By using this NCS, the network-induced delay is analyzed to find the cause of the delay. Furthermore, the fuzzy logic controllers performance is compared With that of conventional proportional-integralderivative controllers. Based on the experimental results, it is found. that the fuzzy logic controller can be a viable choice for an NCS due to its robustness against parameter uncertainty. Author Keywords: fieldbus, networked control system (NCS), network-induced delay, Profibus-DP, remote fuzzy logic controller (RFLC) KeyWords Plus: PERFORMANCE MANAGEMENT, COMMUNICATION Addresses: Lee KC, Univ Ulsan, Network Based Ctr, Ulsan 680749, South Korea. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, PISCATAWAY IDS Number: 705BM ---Various hybrid methods based on genetic algorithm with fuzzy logic controller Yun YS, Gen M, Seo S JOURNAL OF INTELLIGENT MANUFACTURING 14: (3-4) 401-419 JUN-AUG 2003 Document type: Article Language: English Cited References: 24 Times Cited: 0 Abstract: In this paper we propose several efficient hybrid methods based on genetic algorithms and fuzzy logic. The proposed hybridization methods combine a rough search technique, a fuzzy logic controller, and a local search technique. The rough search technique is used to initialize the population of the genetic algorithm (GA), its strategy is to make large jumps in the search space in order to avoid being trapped in local optima. The fuzzy logic controller is applied to dynamically regulate the fine-tuning structure of the genetic algorithm parameters (crossover ratio and mutation ratio). The local search technique is applied to find a ISSN: 0278-0046 ISSN: 0302-9743

better solution in the convergence region after the GA loop or within the GA loop. Five algorithms including one plain GA and four hybrid Gas along with some conventional heuristics are applied to three complex optimization problems. The results are analyzed and the best hybrid algorithm is recommended. Author Keywords: hybrid algorithm, genetic algorithm, fuzzy logic controller, local search technique KeyWords Plus: OPTIMIZATION, INTEGER Addresses: Yun YS, Daegu Univ, Mech Engn, Kyungbuk 712714, South Korea. Publisher:KLUWER ACADEMIC PUBL, DORDRECHT IDS Number:699DQ --Multiple manipulator control from a human motor-control perspective Kambhampati C, Rajasekharan S IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 19: (3) 433-442 JUN 2003 Document type: Article Language: English Cited References: 32 Times Cited: 0 Abstract: The human motor-control system has a hierarchical and decentralized structure, and building such a control system for a multiple robot system would require a decomposed model. The difficulty in decomposing complex robotic systems is due to interactions between robots, and this paper proposes a control architecture that controls the manipulator joints and interactions separately. A decomposable model for an N - n degrees-of-freedom multimanipulator/object system handling an object is derived. This model is then used to design a Lyapunov-based fuzzy logic controller for the system by solving linear matrix equalities. It is shown that this controller is closed-loop stable and a stable suboptimal controller for the system may be designed using bounds. Author Keywords: cooperative robots, decentralized control, human motor control (HMC), linear matrix inequalities (LMI), neuro-fuzzy modeling KeyWords Plus: NONLINEAR-SYSTEMS, FUZZY CONTROL, NETWORKS, DESIGN, SPACE, LOGIC Addresses: Kambhampati C, Univ Hull, Dept Comp Sci, Kingston Upon Hull HU6 7RX, N Humberside, England. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, PISCATAWAY IDS Number: 691HP ---Fuzzy logic versus PI speed control in high-performance AC drives: A comparison Ibrahim Z, Levi E ELECTRIC POWER COMPONENTS AND SYSTEMS 31: (4) 403-422 APR 2003 ISSN: 1042-296X ISSN: 0956-5515

Document type: Article Language: English Cited References: 16 Times Cited: 0 Abstract: A frequently discussed application of artificial intelligence in motion control is the replacement of a standard Proportional Plus Integral (PI) speed controller with a fuzzy logic (FL) speed controller. A common conclusion that emerges from such studies is that the FL control provides superior performance. However, such a conclusion usually is based on a limited simulation and/or experimental study. It appears that a thorough comparison of the drive behavior under PI and FL speed control, using simulations and an experimental rig, is still missing. This paper attempts to provide such an in-depth comparison of the operation of a vector-controlled permanent magnet synchronous motor. Speed responses under PI and FL speed control are at first simulated and then measured on the experimental rig for a variety of operating conditions. Two different machines are used in simulation and experimentation, enabling a better generalization of the results. The transients studied include response to a large step speed command from standstill with nominal inertia and an increased inertia, response to a small step speed reference change, response to a step load torque application, and a reversing transient. The transient behavior is examined for various initial speed settings, so that a thorough comparison is enabled. It is shown that superiority of the FL speed control is much less pronounced than it is often portrayed in literature on the basis of limited comparisons. Indeed, in a number of cases PI speed control provided a superior speed response. Predictions obtained by simulations and experimental results are found to be in reasonable agreement, considering all the differences between the simulation and experimental study. Author Keywords: ac drives, vector control, fuzzy logic controller, PI controller KeyWords Plus: MACHINE DRIVE, MOTOR Addresses: Levi E, Liverpool John Moores Univ, Sch Engn, Byrom St, Liverpool L3 3AF, Merseyside, England. Publisher: TAYLOR & FRANCIS INC, PHILADELPHIA IDS Number: 662RJ ---Fuzzy control of robot manipulators: some issues on design and rule base size reduction Bezine H, Derbel N, Alimi AM ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 15: (5) 401-416 SEP 2002 Document type: Article Language: English Cited References: 30 Times Cited: 0 Abstract: This paper is aimed at looking into the automatic design and the size reduction of the rule base of fuzzy logic controllers. The first part is concerned with an automatic generation method of the fuzzy rule base-This is done by the use of an intelligent optimization method, and its implementation to the design of a fuzzy controller for robot manipulators. It is assumed that such system is known but ill-defined because of the inherent uncertainties associated with the model. Thus, an accurate mathematical model is not required, but a simplified one is acceptable. The second part treats the reduction of large scale fuzzy rule bases. Two approaches are used for this purpose: the boolean method and the decoupling approach giving a local control loop yielding smaller fuzzy controllers. The boolean approach ISSN: 1532-5008

is based on the equivalence between fuzzy preconditions and on boolean expressions. Using the fact that fuzzy sets are a generalization of classical subsets, we introduced some operations on fuzzy sets that are equivalent to those applied in the boolean logic approach. The paper then discusses the reduction of large scale fuzzy rule bases by the use of a decoupling approach, and its application to the case of an optimal fuzzy logic controller of a three-links robot manipulator using local PID controllers. (C) 2003 Published by Elsevier Science Ltd. Author Keywords: fuzzy logic, rule base size reduction, robot manipulator, optimization, decoupling approach Addresses: Bezine H, Univ Sfax, ENIS, REGIM, BP W 3038, Sfax, Tunisia. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 658EV ---Fuzzy logic based speed controllers for vector controlled induction motor drive Singh B, Choudhuri SG IETE JOURNAL OF RESEARCH 48: (6) 441-447 NOV-DEC 2002 Document type: Article Language: English Cited References: 14 Times Cited: 0 Abstract: This paper presents a comparative study of Proportional Integral (PI), Fuzy Logic (FL), Fuzzy Pre-compensated Proportional Integral (FPPI), Fuzzy Poportional Integral (FPI), and Hybrid (of FL and PI) speed controllers for vector controlled induction motor drive. An Indirect Vector Control (VC) strategy is employed for the control of current controlled voltage source,inverter (CC-VSI) fed squirrel cage induction motor drive (SCIMD). The simulated response of a CC-VSI fed cage induction motor drive is presented for different modes of operation such as starting, speed reversal, load application and removal to demonstrate the effectiveness of the various mentioned controllers. Author Keywords: vector control mode, Proportional Integral controller, Fuzzy Logic controller, Hybrid of Fuzzy Logic and Proportional Integral controller KeyWords Plus: CONTROL-SYSTEMS Addresses: Singh B, Indian Inst Technol, Dept Elect Engn, New Delhi 110016, India. Indian Inst Technol, Dept Elect Engn, New Delhi 110016, India. Publisher: INST ELECTRONICS TELECOMMUNICATION ENGINEERS, NEW DELHI IDS Number: 637NV ISSN: 0377-2063 ISSN: 0952-1976

---A new methodology for designing a fuzzy logic controller and PI, PD blending mechanism Guzelkaya M, Eksin I, Gurleyen F JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 11: (1-2) 85-98 2001 Document type: Article Language: English Cited References: 20 Times Cited: 1

Abstract: In this study, a hybrid and intelligent structure that blends the PI-type and PDtype output portions of a new fuzzy logic controller is presented. The new fuzzy logic controller consists of two rule-base blocks and a logical switch in between and its rule-base is formed using new meta-rules. The rule-base blocks admit two inputs one of which is newly devised and called normalized acceleration and the other one is the classical error. The newly devised input gives a relative value about the fastness or slowness of the system response and provides an easy and straightforward way of forming the rule-base. The new hybrid controller structure is formed in such a way that it intelligently blends PI and PD portions of the fuzzy logic controller through a new empirical relation or a rule-base. Both the empirical relation and the rule-base use the same inputs of the new fuzzy logic controller. The robustness and effectiveness of the new fuzzy logic controller with/without the blending mechanism are illustrated through simulations done on a second-order system with varying parameters. Furthermore, the results of the new hybrid fuzzy PID controller is compared with the results obtained using both the conventional fuzzy PID controller and another hybrid method which is an augmented version of fuzzy PI controller with a resetting factor. Author Keywords: fuzzy logic control, fuzzy rule-base generation, PI-PD-blending Addresses: Eksin I, Istanbul Tech Univ,Control Syst Div, TR-80626 Istanbul, Turkey. Publisher: IOS PRESS, AMSTERDAM IDS Number: 629GM ---Fuzzy controller for flexible-link robot arm by reduced-order techniques Lin J, Lewis FL IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS 149: (3) 177-187 MAY 2002 Document type: Article Language: English Cited References: 26 Times Cited: 1 Abstract: The design and analysis of a large-scale control system should be based on the best available knowledge instead of the simplest available model when treating uncertainties in the system. Therefore, a large-scale system is better treated by knowledge-based methods such as fuzzy logic, neural networks, expert systems, etc. This paper concentrates on fuzzy logic using the singular perturbation approach for flexible-link robot arm control. To reduce the spillover effect, we will introduce a singular perturbation approach to derive the slow and fast subsystems. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied to the system. The fast-subsystem controller will damp out the vibration of the flexible structure by an optimal control method. Hence, the slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations. Various case studies are given to verify the control algorithm. It appears that the fuzzy control method is quite useful in terms of reliability and robustness. KeyWords Plus: SINGULAR PERTURBATION APPROACH, LOGIC CONTROL, MANIPULATORS, SYSTEMS Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jung Li 320, Taiwan. Univ Texas, Automat & Robot Res Inst, Arlington, TX USA. ISSN: 1064-1246

Publisher: IEE-INST ELEC ENG, HERTFORD IDS Number: 568KM ---Comparison of two inference methods for P-type fuzzy logic control through experimental investigation using a hydraulic manipulator Rahbari R, de Silva CW ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 14: (6) 763-784 DEC 2001 Document type: Article Language: English Cited References: 14 Times Cited: 0 Abstract: This paper presents a comparison of the two important inference schemes: individual-rule-based inference and compositional rule of inference as applied to fuzzy logic control. through experimental investigation. The techniques are implemented on a hydraulic manipulator of an industrial machine with P-type fuzzy control. The fuzzy logic controller is designed for automatic positioning of the cutter blade of an automated fishcutting machine. The features of the machine. which uses hydraulic servo control for cutter positioning. are outlined. The performance of the machine under the two inference schemes is examined and contrasted. Some practical implementations of the results are indicated. (C) 2002 Elsevier Science Ltd. All rights reserved. Author Keywords: fuzzy logic control, hydraulic positioning systems, inference method, individual-rule-based inferences, compositional rule of inference, P-type fuzzy logic control Addresses: de Silva CW, Univ British Columbia, Dept Mech Engn, 2324 Main Mall, Vancouver, BC V6T 1Z4, Canada. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 562LB --Design of a PID-like compound fuzzy logic controller Kukolj DD, Kuzmanovic SB, Levi E ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 14: (6) 785-803 DEC 2001 Document type: Article Language: English Cited References: 15 Times Cited: 0 Abstract: The paper describes a novel method for the design of a fuzzy logic controller (FLC) with near-optimal performance for a variety of operating conditions. The approach is based on the analysis of the system behaviour in the error state-space. The final control structure, in a form of a compound FLC, is arrived at in two stages. The first stage encompasses design and tuning of a PID-like fuzzy controller. The second stage consists of placing an additional fuzzy controller, of a structure similar to that of the first one, in parallel with the PID-like fuzzy controller designed in the first stage. The resulting compound controller is characterised with high performance in the wide range of operating conditions. and with small number of parameters that can be adjusted using simple optimisation methods. The controller is developed and tested for a plant comprising a vector controlled induction motor drive. (C) 2002 Elsevier Science Ltd. All rights reserved. ISSN: 0952-1976 ISSN: 1350-2379

Author Keywords: fuzzy control design, phase-plane analysis, PID controller, speed control, electric motor drives Addresses: Levi E, Liverpool John Moores Univ, Sch Engn, Byrom St, Liverpool L3 3AF, Merseyside, England. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 562LB ISSN: 0952-1976

---Space vector pulse width modulated voltage source inverter fed induction motor drive using fuzzy logic controller Mandal SK, Singh G IETE JOURNAL OF RESEARCH 47: (6) 315-326 NOV-DEC 2001 Document type: Article Language: English Cited References: 40 Times Cited: 0 Abstract: Direct self-controlled (DSC) induction motor drive employs sequence switching of space voltage vectors to pulse width modulated inverter. It has sluggish response during start up. The trajectory of stator flux and current Is not a smooth circle. A novel fuzzy logic controller (FLC) based space vector pulse width modulated inverter fed induction motor drive is proposed in this paper. Here, FLC is used to select space voltage vectors for the PWM period based on torque error, stator flux error and stator flux position. The trajectory pattern of the stator flux vector, in a field co-ordinate system, can be improved by FLC. The machines dynamic performance during starting is also improved by this method. The simulation results of the proposed scheme are presented in this paper. Author Keywords: DSC, induction motor, space voltage vectors, pulse width modulated inverter, fuzzy logic controller KeyWords Plus: DIRECT TORQUE CONTROL, EFFICIENCY CONTROL, SPEED, COMPUTATION, SYSTEM, MODEL Addresses: Mandal SK, Punjab Engn Coll, Dept Elect Engn, Chandigarh 160012, India. Punjab Engn Coll, Dept Elect Engn, Chandigarh 160012, India. Publisher: INST ELECTRONICS TELECOMMUNICATION ENGINEERS, NEW DELHI IDS Number: 549ZV ISSN: 0377-2063

---Design of fuzzy logic controllers for Takagi-Sugeno fuzzy model based system with guaranteed performance Wong LK, Leung FHF, Tam PKS INTERNATIONAL JOURNAL OF APPROXIMATE REASONING 30: (1) 41-55 MAY 2002 Document type: Article Language: English Cited References: 10 Times Cited: 0 Abstract: A new fuzzy logic controller (FLC) for the Takagi-Sugeno (TS) fuzzy model based systems is proposed in this paper. This new FLC has two consequents in each rule.

They are a numerator part and a denominator part. It can be shown that on applying this FLC, the number of fuzzy sub-systems will remain the same as the number of fuzzy rules of the plant model. Besides, the overall closed-loop system can be designed such that it behaves like a linear system. Comparing with the FLCs in the existing design approaches for TS fuzzy model based systems, the proposed FLC has two major advantages. First, it does not require the complex process of finding a common Lyapunov function for a large number of fuzzy sub-systems in order to guarantee the system stability. Therefore the design procedure of the proposed FLC is much simpler. Second, by employing the proposed FLC, the closed-loop system performance can be designed. Illustrative examples will be given to demonstrate the ability and merits of the proposed FLC. (C) 2002 Published by Elsevier Science Inc. Author Keywords: TS model, stability, guaranteed performance, fuzzy logic control KeyWords Plus: ROBUST STABILIZATION, NONLINEAR-SYSTEMS, STABILITY Addresses: Wong LK, Hong Kong Polytech Univ, Dept Elect & Informat Engn, Ctr Multimedia Signal Proc, Hong Kong, Hong Kong, Peoples R China. Publisher: ELSEVIER SCIENCE INC, NEW YORK IDS Number: 551GF --An overview of the University of Louisiana robotic gripper system project Kolluru R, Valavanis KP, Smith S, Tsourveloudis N TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 24: (1) 65-84 2002 Document type: Article Language: English Cited References: 19 Times Cited: 0 Abstract: This paper summarizes a concluded 5-year funded research project (1994-1999) addressing the automated handling and manipulation of limp material, without distortion, deformation or damage. A series of prototype gripper systems (fixed-dimensioned and reconfigurable) were developed and integrated with Adept Series manipulators to demonstrate the gripper applicability to the textiles and apparel industry. A sensor-based control system based on the hierarchical control architecture paradigm (Valavanis and Saridis, Intelligent robotic systems: theory, design and applications, Kluwer, Amsterdam, 1992) controlled the operation of the integrated robotic gripper system. The research concluded with the conceptual and theoretical design of a reconfigurable robotic gripper system (RGS) followed by simulation-based design parameter validation, controlled by a fuzzy logic controller (for both position- and suction-based control). RGS simulation studies demonstrated the distortion-free manipulation of limp material panels of a variety of shapes and sizes. Author Keywords: control, grippers, limp material, suction KeyWords Plus: LIMP MATERIAL Addresses: Kolluru R, Univ Louisiana, Ctr Adv Comp Studies, Apparel Comp Integrated Mfg Ctr, Lafayette, LA 70504 USA. Publisher: INST MEASUREMENT CONTROL, LONDON ISSN: 0888-613X

IDS Number: 523LK ---

ISSN: 0142-3312

The hierarchical expert tuning of PID controllers using tools of soft computing Karray F, Gueaieb W, Al-Sharhan S IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART BCYBERNETICS 32: (1) 77-90 FEB 2002 Document type: Article Language: English Cited References: 22 Times Cited: 1 Abstract: We present in this work soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes. Author Keywords: intelligent control, PID controller, tools of soft computing KeyWords Plus: FUZZY-LOGIC CONTROLLER, CONTROL-SYSTEMS, PERFORMANCE Addresses: Karray F, Univ Waterloo, Dept Syst Design Engn, Pattern Anal & Machine Intelligence Lab, Waterloo, ON N2L 3G1, Canada. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 514VF --Fuzzy logic controllers for electrotechnical devices - On-site tuning approach Hissel D, Maussion P, Faucher J EUROPEAN PHYSICAL JOURNAL-APPLIED PHYSICS 16: (3) 195-208 DEC 2001 Document type: Article Language: English Cited References: 12 Times Cited: 0 Abstract: Fuzzy logic offers nowadays an interesting alternative to the designers of non linear control laws for electrical or electromechanical systems. However, due to the huge number of tuning parameters, this kind of control is only used in a few industrial applications. This paper proposes a new, very simple, onsite tuning strategy for a PID-like fuzzy logic controller. Thanks to the experimental designs methodology, we will propose sets of optimized pre-established settings for this kind of fuzzy controllers. The proposed parameters are only depending on one on-site open-loop identification test. In this way, this on-site tuning methodology has to be compared to the Ziegler-Nichols ones for conventional controllers. Experimental results (on a permanent magnets synchronous motor and on a DC/DC converter) will underline all the efficiency of this tuning methodology. Finally, the field of validity of the proposed pre-established settings will be given. ISSN: 1083-4419

Addresses: Hissel D, Inst Natl Polytech Toulouse, ENSEEIH, Lab Electrotech & Elect Ind, CNRS, UMR 5828, 2 Rue Camichel, BP 7122, F-31071 Toulouse 7, France. Publisher: E D P SCIENCES, LES ULIS CEDEXA IDS Number: 496GQ --Brief communication: Uniform ultimate boundedness of a fuzzy logic controlled industrial robot Chen WW, Mills JK, Chu JX, Sun D JOURNAL OF ROBOTIC SYSTEMS 18: (9) 553-561 SEP 2001 Document type: Article Language: English Cited References: 9 Times Cited: 0 Abstract: This article addresses the proof of uniform ultimate boundedness of a fuzzy logic controller plus a computed torque control scheme applied to trajectory tracking control of robotic manipulators. Further improvement of the performance of this fuzzy logic control scheme is achieved through automatic tuning of a weight parameter a leading to a self-tuning fuzzy logic compensator. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme, as Well as the self-tuning fuzzy logic controller, applied to an industrial CRS Robotics Corporation A460 robot during a trajectory tracking task. (C) 2001 John Wiley & Sons, Inc. KeyWords Plus: STABILITY ANALYSIS Addresses: Mills JK, Univ Toronto, Dept Mech & Ind Engn, 5 Kingss Coll Rd, Toronto, ON M5S 3G8, Canada. Publisher: JOHN WILEY & SONS INC, NEW YORK IDS Number: 468VM --Comments on Constraining the optimization of a fuzzy logic controller Wu MD, Sun CT IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART BCYBERNETICS 31: (4) 663-666 AUG 2001 Document type: Article Language: English Cited References: 5 Times Cited: 0 Abstract: Genetic algorithms (Gas) are a highly effective and efficient means of solving optimization problems. Gene encoding, fitness landscape and genetic operations are vital to successfully developing a GA. Cheong and Lai(1) described a novel method, which employed an enhanced genetic algorithm with multiple populations, to optimize a fuzzy controller, and the experimental results revealed that their method was effective in producing a well-formed fuzzy rule-base. However, their encoding method and fitness function appear unnatural and inefficient. This study proposes an alternative method of concise genetic encoding and fitness design. Author Keywords: fuzzy modeling, genetic algorithms, polyploidy Addresses: Wu MD, Natl Chiao Tung Univ, Dept Comp & Informat Sci, Hsinchu 30050, Taiwan. Natl Chiao Tung Univ, Dept Comp & Informat Sci, Hsinchu 30050, Taiwan. ISSN: 0741-2223 ISSN: 1286-0042

Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 460QQ ---A new approach to numerical stability analysis of fuzzy control systems Kim E IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART CAPPLICATIONS AND REVIEWS 31: (1) 107-113 FEB 2001 Document type: Letter Language: English Cited References: 35 Times Cited: 1 Abstract: This paper presents numerical methodology for the stability analysis of fuzzy control system. The fuzzy control system analyzed in this paper is the closed-loop system controlled by the fuzzy logic controller (FLC) with Singleton consequents. Compared with the previous works based on the numerical approaches, the new method proposed in this paper employs two new strategies to release the conservatism of the previous ones: the region-wise affine transformation and the piecewise quadratic Lyapunov function. Finally, the effectiveness of the stability analysis is illustrated by a numerical example and its computer simulation. Author Keywords: fuzzy logic controller (FLC), linear matrix inequalities (LMIs), numerical stability analysis, piecewise quadratic Lyapunov function, quadratic programming (QP), region-wise affine transformation Addresses: Kim E, Hankyong Natl Univ, Dept Control & Instrumentat Engn, Ansung 456749, Kyungki, South Korea. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 433HY --A fuzzy sliding controller for nonlinear systems Wong LK, Leung FHF, Tam PKS IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 48: (1) 32-37 FEB 2001 Document type: Article Language: English Cited References: 10 Times Cited: 1 Abstract: It is well known that sliding-mode control can give good transient performance and system robustness. However, the presence of chattering may introduce problems to the actuators. Many chattering elimination methods use a finite de gain controller which leads to a finite steady-state error. One method to ensure zero steady-state error is using a proportional plus integral (PI) controller. This paper proposes a fuzzy logic controller which combines a sliding-mode controller (SMC) and a PI controller. The advantages of the SMC and the PI controller can be combined and their disadvantages can be removed. The system stability is proved, although there is one more state variable to be considered in the PI subsystem. An illustrative example shows that good transient and steady-state responses can be obtained by applying the proposed controller. Author Keywords: combining controllers, fuzzy sliding, Lyapunov, stability KeyWords Plus: DESIGN ISSN: 1094-6977 ISSN: 1083-4419

Addresses: Wong LK, Hong Kong Polytech Univ, Dept Elect & Informat Engn, Kowloon, Hong Kong, Peoples R China. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number:405ML ISSN: 0278-0046

--Application of the Taguchi-genetic method to design an optimal grey-fuzzy controller of a constant turning force system Chou JH, Chen SH, Li JJ JOURNAL OF MATERIALS PROCESSING TECHNOLOGY 105: (3) 333-343 SEP 29 2000 Document type: Article Language: English Cited References: 14 Times Cited: 1 Abstract: A grey-fuzzy control scheme is proposed in this paper to control a constant cutting force turning process under various cutting conditions. The grey-fuzzy control scheme consists of two parts: a grey predictor and the fuzzy logic controller. When the grey-fuzzy control scheme is used to design the constant turning force system, it is necessary to adjust the control parameters of both the grey predictor and the fuzzy controller (i.e., the sample size and grey constants of the grey predictor, and the scaling factors of the fuzzy controller) for ensuring stability and obtaining optimal control performances. Therefore, in order to search for the optimal central parameters by way of systematic reasoning instead of the timeconsuming trial-and-error procedure, the Taguchi-genetic method is applied in this paper to search for the optimal control parameters of both the grey predictor and the fuzzy controller such that the grey-fuzzy controller is an optimal controller. Computer simulations are performed to verify the effectiveness of the above optimal grey-fuzzy control scheme designed by the Taguchi-genetic method. It is shown that satisfactory performance is achieved by the designed optimal grey-fuzzy control scheme. (C) 2000 Elsevier Science B.V. All rights reserved. Author Keywords: Taguchi-genetic method, grey-fuzzy controller, turning force KeyWords Plus: ADAPTIVE-CONTROL Addresses: Chen SH, Natl Kaohsiung Univ Appl Sci, Dept Mech Engn, 415 Chien-Kung Rd, Kaohsiung 807, Taiwan. Publisher: ELSEVIER SCIENCE SA, LAUSANNE IDS Number: 371UV --Robust fuzzy model-following control of robot manipulators Tsai CH, Wang CH, Lin WS IEEE TRANSACTIONS ON FUZZY SYSTEMS 8: (4) 462-469 AUG 2000 Document type: Article Language: English Cited References: 18 Times Cited: 1 Abstract: A robust fuzzy model-following control system is proposed for the control of robot manipulators. The application held to n-link robot manipulators with torque disturbance and measurement noise is addressed. The control objective is obtained by tailoring a nominal adaptation process of parameters to implement appropriate function approximation and facilitating a self-tuning mechanism on the consequent membership functions to overcome the ISSN: 0924-0136

equivalent uncertainty. The major differences comparing with previous adaptive fuzzy control approaches are that a novel fuzzy system with self-tuning mechanism provided robust property and the rulebase in the form of IF situation THEN the control input rather than IF situation THEN the value of some nonlinear function of the robot are introduced. The proposed multilayer fuzzy logic controller can improve both transient and stability margins without a priori knowledge about the dynamic model or parameters of the robotic system. Using the Lyapunov stability method, the uniform ultimate boundedness of tracking error has been proved, The performance is demonstrated by simulating the control of a two-link robot in various situations. Author Keywords: fuzzy control, model following control, robot KeyWords Plus: CONTROL DESIGN Addresses: Tsai CH, Natl Taiwan Univ, Dept Elect Engn, Taipei 10764, Taiwan. Natl Taiwan Univ, Dept Elect Engn, Taipei 10764, Taiwan. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 356TD --Development of a non-linear force controller using fuzzy logic techniques Burn K, Bicker R PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART IJOURNAL OF SYSTEMS AND CONTROL ENGINEERING 214: (13) 197-206 2000 Document type: Article Language: English Cited References: 16 Times Cited: 1 Abstract: As the demand for robots to perform complex tasks grows, there is an increasing need to utilize robust and stable force control strategies. Most current schemes can only provide adequate force control with the controller tuned to specific task requirements since, if there is a wide variation in the overall compliance at the robot tool/task interface, the performance is rapidly degraded. This paper describes a method for the design of a fuzzy logic controller to replace a conventional controller in a force control loop. The method combines an analytical approach to controller tuning, with the intuitive properties and selfadjusting gain characteristics associated with fuzzy logic systems. It is demonstrated using a model of a single-axis experimental rig and is shown to perform well over a wide range of stiffnesses. The implementation of the controller on the actual rig is also described. Experimental results compare favourably with those obtained from simulation using an accurate model of the system. Issues relating to the implementation of the controller on multiaxis systems are also addressed. Author Keywords: robotics, force control, fuzzy logic, intelligent control KeyWords Plus: MANIPULATORS, SYSTEMS Addresses: Burn K, Univ Sunderland, Control Syst Ctr, Sch Comp Engn & Technol, Edinburgh Bldg, Chester Rd, Sunderland SR1 3SD, Durham, England. Publisher:PROFESSIONAL ENGINEERING PUBLISHING LTD, BURY ST EDMUNDS ISSN: 1063-6706

IDS Number: 343ZR ---

ISSN: 0959-6518

Fuzzy logic applied to speed control of a stepping motor drive Betin F, Pinchon D, Capolino GA IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 47: (3) 610-622 JUN 2000 Document type: Article Language: English Cited References: 22 Times Cited: 3 Abstract: Nowadays, thanks to the development of microprocessors, stepping motors are widely used in robotics and in the numerical control of machine tools where they have to perform high-precision positioning operations. Nevertheless, the variations of the mechanical configuration of the drive, which are common to these two applications, can lead to a loss of synchronism for high stepping rates. Moreover, the classical open-loop speed control is weak and a closed-loop control becomes necessary. In this paper, the fuzzy logic principle is applied to control the speed of a stepping motor drive with feedback. An advanced test bed is used in order to evaluate the tracking properties and the robustness capacities of the fuzzy logic controller when variations of the mechanical configuration occur. The experiment has been performed using a low-cost 16-b microcontroller in order to verify the design performance. Author Keywords: feedback control, fuzzy logic, stepping motor KeyWords Plus: CONTROL-SYSTEMS Addresses: Betin F, Univ Picardie, Dept Elect Engn, F-06880 Cuffies, France. Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 325UV --Parallel structure and tuning of a fuzzy PID controller Xu JX, Hang CC, Liu C AUTOMATICA 36: (5) 673-684 MAY 2000 Document type: Article Language: English Cited References: 13 Times Cited: 5 Abstract: In this paper, a parallel structure of fuzzy PID control systems is proposed. It is associated with a new tuning method which, based on gain margin and phase margin specifications, determines the parameters of the fuzzy PID controller. In comparison with conventional PID controllers, the proposed fuzzy PID controller shows higher control gains when system states are away from equilibrium and, at the same time, retains a lower profile of control signals. Consequently, better control performance is achieved. With the proposed formula, the weighting factors of a fuzzy logic controller can be systematically selected according to the plant under control. By virtue of using the simplest structure of fuzzy logic control, the stability of the nonlinear control system can be analyzed and a sufficient BIBO stability condition is given. The superior performance of the proposed controller is demonstrated through an experimental example. (C) 2000 Elsevier Science Ltd. All rights reserved. Author Keywords: fuzzy PID control, PID tuning, gain and phase margins, BIBO stability ISSN: 0278-0046

KeyWords Plus: DESIGN, GAIN Addresses: Xu JX, Natl Univ Singapore, Dept Elect Engn, 10 Kent Ridge Crescent, Singapore 119260, Singapore. Publisher: PERGAMON-ELSEVIER SCIENCE LTD, OXFORD IDS Number: 300MQ -A systematic method for design of multivariable fuzzy logic control systems Yeh ZM IEEE TRANSACTIONS ON FUZZY SYSTEMS 7: (6) 741-752 DEC 1999 Document type: Article Language: English Cited References: 20 Times Cited: 3 Abstract: This paper proposes a systematic method to design a multivariable fuzzy logic controller (SMFLC) for large-scale nonlinear systems. In designing a fuzzy logic controller, the major task is to determine fuzzy rule bases, membership functions of input/output variables, and input/output scaling factors. In this work, the fuzzy rule base is generated by a rule-generated function, which is based on the negative gradient of a system performance index, the membership functions of isosceles triangle of input/output variables are fixed in the same cardinality and only the input/output scaling factors are generated from a genetic algorithm based on a fitness function, As a result, the searching space of parameters is narrowed down to a small space, the multivariable fuzzy logic controller can quickly constructed, and the fuzzy rules and the scaling factors can easily be determined. The performance of the proposed method is examined by computer simulations on a Puma 560 system and a two-inverted pendulum system. Author Keywords: fuzzy control, genetic algorithm KeyWords Plus: ROBOT Addresses: Yeh ZM, Natl Taiwan Normal Univ, Dept Ind Educ, Taipei 10610, Taiwan. Natl Taiwan Normal Univ, Dept Ind Educ, Taipei 10610, Taiwan. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 268QA -Two-time scale fuzzy logic controller of flexible link robot arm Lin J, Lewis FL FUZZY SETS AND SYSTEMS 139: (1) 125-149 OCT 1 2003 Document type: Article Language: English Cited References: 25 Times Cited: 0 Abstract: A flexible link arm is a distributed parameter system of infinite order, but due to onboard computer limitations, sensor inaccuracy, and system noise, it must be approximated by a lower-order model and controlled by a finite-order controller. The main object of this paper is concentrated on the hierarchical fuzzy logic by the singular perturbation approach for flexible-link robot arm control. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied for such system. In this paper, the fast-subsystem ISSN:1063-6706 ISSN: 0005-1098

controller will be damp out the vibration of the flexible structure by two hierarchical fuzzy logic controllers. Moreover, the other slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundarylayer correction based on singular perturbations. In addition, various case studies are given in illustration to verify the control algorithm. It appears that the fuzzy control method is quite useful as regards reliability and robustness. (C) 2002 Elsevier B.V. All rights reserved. Author Keywords: reduced-order, singular perturbation, hierarchical fuzzy logic control KeyWords Plus: SINGULAR PERTURBATION APPROACH, MANIPULATORS, SYSTEMS Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jung Li City 320, Taiwan. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 721FY --A reinforcement learning adaptive fuzzy controller for robots Lin CK FUZZY SETS AND SYSTEMS 137: (3) 339-352 AUG 1 2003 Document type: Article Language: English Cited References: 18 Times Cited: 0 Abstract: In this paper, a new reinforcement learning scheme is developed for a class of serial-link robot arms. Traditional reinforcement learning is the problem faced by an agent that must learn behavior through trial-and-error interactions with a dynamic environment. In the proposed reinforcement learning scheme, an agent is employed to collect signals from a fixed gain controller, an adaptive critic element and a fuzzy action-generating element. The action generating element is a fuzzy approximator with a set of tunable parameters, and the performance measurement mechanism sends an error metric to the adaptive critic element for generating and transferring a reinforcement learning signal to the agent. Moreover, a tuning algorithm of the proposed scheme that can guarantee both tracking performance and stability is derived from the Lyapunov stability theory. Therefore, a combination of adaptive fuzzy control and reinforcement learning scheme is also concerned with algorithms for eliminating a sequence of decisions from experience. Simulations of the proposed reinforcement adaptive fuzzy control scheme on the cart-pole balancing problem and a two-degree-of freedom (2DOF) manipulator, SCARA robot arm verify the effectiveness of our approach. (C) 2002 Elsevier B.V. All rights reserved. Author Keywords: reinforcement learning, adaptive fuzzy controller KeyWords Plus: FUNCTION APPROXIMATION, PERFORMANCE Addresses: Lin CK, Chinese Navel Acad, Dept Elect Engn, 669 Chun Hsiao Rd, Kaohsiung 813, Taiwan. Publisher: ELSEVIER SCIENCE BV, AMSTERDAM IDS Number: 702KB ISSN: 0165-0114 ISSN: 0165-0114

-A feedback control and a simulation of a torsional elastic robot arm Hou XZ, Tsui SK APPLIED MATHEMATICS AND COMPUTATION 142: (2-3) 389-407 OCT 10 2003 Document type: Article Language: English Cited References: 14 Times Cited: 0 Abstract: A feedback control is designed for a torsional elastic robot arm to be exponentially stable and to arrive at any designated position. An eigenvalue problem is discussed, and a finite-dimensional approximation theorem is proposed and proved. Based on the numerical analysis and the approximation theorem we can simulate the system and show that the bending vibration, the torsional vibration, the rigid turning angle, and the bending moment of the robot arm can be controlled in a short period of time. (C) 2002 Elsevier Science Inc. All rights reserved. Author Keywords: Euler-Bernoulli model, torsional vibration, nonlinear control systems, exponential stability, eigenfunction approximation, modal analysis, simulations KeyWords Plus: STABILIZATION, BEAMS Addresses: Hou XZ, Towson State Univ, Dept Math, Baltimore, MD 21252 USA. Publisher: ELSEVIER SCIENCE INC, NEW YORK IDS Number: 688WX -Two-way fuzzy adaptive identification and control of a flexible-joint robot arm Gurkan E, Erkmen I, Erkmen AM INFORMATION SCIENCES 145: (1-2) 13-43 AUG 2002 Document type: Article Language: English Cited References: 23 Times Cited: 0 Abstract: The objective in this paper is to apply our proposed two-way fuzzy adaptive system that makes use of intuitionistic fuzzy sets to the identification and model-based control of a flexible-joint robot arm. Uncertainty and inconsistency are modelled in the proposed system such as uncertainty is the width of the interval introduced by the independent assignment of membership and nonmembership functions of the intuitionistic fuzzy sets; and inconsistency is the violation of the consistency inequality in this assignment. We reduce uncertainty and inconsistency through a two phase training. The first phase is to reduce inconsistency introduced by the inconsistent assignment of membership and nonmembership functions. The resultant system is an almost consistent two-way fuzzy adaptive system. Thus, an evaluation of the degree of reduction of inconsistency is needed and is carried out at the end of this phase by forming the shadowed set patterns of the membership and nonmembership functions after first phase of training. The system is further trained for a second phase in order to reduce uncertainty. The system performance has shown that this second phase of training renders the system totally one-way fuzzy adaptive. (C) 2002 Elsevier Science Inc. All rights reserved. Author Keywords: inconsistency modelling and evaluation, uncertainty reduction, intuitionistic fuzzy sets, shadowed sets, fuzzy adaptive identification for control KeyWords Plus: SHADOWED SETS, MANIPULATORS, INCONSISTENCY, VAGUENESS, MODELS ISSN: 0096-3003

Addresses: Erkmen AM, Middle E Tech Univ, Dept Elect & Elect Engn, TR-06531 Ankara, Publisher: ELSEVIER SCIENCE INC, NEW YORK IDS Number: 610GJ --An introduction to the use of neural networks in control systems Hagan MT, Demuth HB, De Jesus O INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 12: (11) 959-985 SEP 2002 Document type: Article Language: English Cited References: 47 Times Cited: 2 Abstract: The purpose of this paper is to provide a quick overview of neural networks and to explain how they can be used in control systems. We introduce the multilayer perceptron neural network and describe how it can be used for function approximation. The backpropagation algorithm (including its variations) is the principal procedure for training multilayer perceptrons; it is briefly described here. Care must be taken, when training perceptron networks, to ensure that they do not overfit the training data and then fail to generalize well in new situations. Several techniques for improving generalization are discussed. The paper also presents three control architectures: model reference adaptive control, model predictive control, and feedback linearization control. These controllers demonstrate the variety of ways in which multilayer perceptron neural networks can be used as basic building blocks. We demonstrate the practical implementation of these controllers on three applications: a continuous stirred tank reactor, a robot arm, and a magnetic levitation system. (C) Copyright 2002 John Wiley Sons, Ltd. Author Keywords: neurocontrol, model reference control, model predictive control, feedback linearization KeyWords Plus: FEEDFORWARD NETWORKS, ALGORITHM, FRAMEWORK Addresses: Hagan MT, Oklahoma State Univ, Sch Elect & Comp Engn, Coll Engn Architecture & Technol, 202 Engn S, Stillwater, OK 74078 USA. Publisher: JOHN WILEY & SONS LTD, W SUSSEX IDS Number: 597WW --A dual neural network for constrained joint torque optimization of kinematically redundant manipulators Zhang YN, Wang J IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART BCYBERNETICS 32: (5) 654-662 OCT 2002 Document type: Article Language: English Cited References: 24 Times Cited: 1 Abstract: A dual neural network is presented for the real-time joint torque optimization of kinematically redundant manipulators, which corresponds to global kinetic energy minimization of robot mechanisms. Compared to other computational strategies on inverse kinematics, the dual network is developed at the acceleration level to resolve redundancy of limited-joint-range manipulators. The dual network has a simple architecture with only one ISSN: 1049-8923 ISSN: 0020-0255

layer of neurons and is proved to be globally exponentially convergent to optimal solutions. The dual neural network is simulated with the PUMA 560 robot arm to demonstrate effectiveness. Author Keywords: dual neural network, joint limits, joint torque optimization, redundant manipulators KeyWords Plus: EXPONENTIAL STABILITY, INVERSE KINEMATICS, ROBOT MANIPULATORS, FORMULATION Addresses: Zhang YN, Chinese Univ Hong Kong, Dept Automat & Comp Aided Engn, Shatin, Hong Kong, Peoples R China. Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 595DV --The SOF-PID controller for the control of a MIMO robot arm Kazemian HB IEEE TRANSACTIONS ON FUZZY SYSTEMS 10: (4) 523-532 AUG 2002 Document type: Article Language: English Cited References: 30 Times Cited: 0 Abstract: The application of a self-organizing fuzzy proportional-integral-derivative (SOFPID) controller to a multiple-input-multiple-output (MIMO) nonlinear revolute-joint robot arm is studied in this paper. The SOF controller is a learning supervisory controller, making small changes to the values of the PID gains while the system is in operation. In effect, the SOF controller replaces an experienced human operator, which otherwise would have readjusted the PID gains during the system operation. The three PID gains are tuned using classical tuning techniques prior to the application of the SOF controller at the supervisory level. Two trajectories of step input and path tracking were applied to the SOF-PID controller at the setpoint. For comparison purposes, the same experiments were repeated by using the self-organizing, fuzzy controller (SOFC) and the PID controller subject to the same information supplied at the setpoint. For the step input, the SOF-PID controller produced a faster rise time, a smaller steady state error, and an insignificant overshoot than the SOFC and the PID controller. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the required path closer and smoother than the output trajectories of the SOFC and the PID controller. Author Keywords: performance index table, self-organizing fuzzy proportional-integralderivative (SOF-PID) controller, Ziegler-Nichols method and robotics KeyWords Plus: FUZZY CONTROLLERS Addresses: Kazemian HB, London Metropolitan Univ, London EC3N 1JY, England. London Metropolitan Univ, London EC3N 1JY, England. Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, NEW YORK IDS Number: 582VW ISSN: 1063-6706 ISSN: 1083-4419

--Fuzzy controller for flexible-link robot arm by reduced-order techniques Lin J, Lewis FL IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS 149: (3) 177-187 MAY 2002 Document type: Article Language: English Cited References: 26 Times Cited: 1 Abstract: The design and analysis of a large-scale control system should be based on the best available knowledge instead of the simplest available model when treating uncertainties in the system. Therefore, a large-scale system is better treated by knowledge-based methods such as fuzzy logic, neural networks, expert systems, etc. This paper concentrates on fuzzy logic using the singular perturbation approach for flexible-link robot arm control. To reduce the spillover effect, we will introduce a singular perturbation approach to derive the slow and fast subsystems. A composite control design is adopted. Therefore, a two-time scale fuzzy logic controller will be applied to the system. The fast-subsystem controller will damp out the vibration of the flexible structure by an optimal control method. Hence, the slow-subsystem fuzzy controller dominates the trajectory tracking. We guarantee the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations. Various case studies are given to verify the control algorithm. It appears that the fuzzy control method is quite useful in terms of reliability and robustness. KeyWords Plus: SINGULAR PERTURBATION APPROACH, LOGIC CONTROL, MANIPULATORS, SYSTEMS Addresses: Lin J, Ching Yun Inst Technol, Dept Mech Engn, 229 Chien Hsin Rd, Jung Li 320, Taiwan. Publisher: IEE-INST ELEC ENG, HERTFORD IDS Number: 568KM ISSN: 1350-2379

--A via-point time optimization algorithm for complex sequential trajectory formation Wada Y, Kawato M NEURAL NETWORKS 17 (3): 353-364 APR 2004 Document Cited Times Language: English Explanation type: Article References: 19 Cited: 0 Abstract:In our previous research, we proposed a method for the reproduction of complex movement trajectories and robot arm control that could mimic fast, skilled human movements. That method is based on bi-directional theory and uses a representation of a set of via-points as boundary conditions or control variables to perform robot arm trajectory control. The via-points are extracted from human movement data and the resultant via-point representation is able to regenerate handwritten characters, control a Kendama toy, and perform a tennis serve. The via-point information contains both spatial and temporal information, that is, the position on the trajectory and the time of passing through the viapoint position, respectively. Trajectory generation is performed using the trajectory formation model based on the optimal criterion, namely, the smoothness criterion, for which the boundary conditions are both the position and the timing of the via-point information. However, generating a smooth trajectory at different movement speeds is quite difficult if the time of passing through the via-point position is unknown or different from the extracted viapoint time. In this paper, we therefore propose a new algorithm which can determine temporal

via-point information. Our proposed algorithm can generate roughly the same trajectory as the measured human trajectory from only the spatial information of via-point locations. The optimality and the convergence of the new algorithm are investigated theoretically, and the trajectory generated by the algorithm is shown in numerical experiments. It is shown that starting from arbitrary temporal information the proposed algorithm can produce an appropriate trajectory. (C) 2004 Elsevier Ltd. All rights reserved. Author Keywords:via-point, time trajectory formation, optimization KeyWords Plus:NEURAL-NETWORK MODEL, TORQUE-CHANGE MODEL, BIDIRECTIONAL THEORY, ARM, GENERATION, MOVEMENTS Addresses:Wada Y, Nagaoka Univ Technol, 1603-1 Kamitomioka, Nagaoka, Niigata 9402188, Japan Nagaoka Univ Technol, Nagaoka, Niigata 9402188, Japan ATR Computat Neurosci Labs, Kyoto 6190288, Japan Publisher:PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND IDS Number:808ER -Evolving in real time a neural net controller of robot-arm: Track and evolve Lehireche A, Rahmoune A INFORMATICA 15 (1): 63-76 2004 Document Cited Times Language: English Explanation type: Article References: 18 Cited: 0 Abstract:Evolutionary Engineering (EE) is defined to be the art of using evolutionary algorithms approach such as genetic algorithms to build complex systems. This paper deals with a neural net based system. It analyses ability of genetically trained neural nets to control Simulated robot arm, witch tries to track a moving object. In difference from classical Approaches neural network learning is performed on line, i.e., in real time. Usually systems are built/evolved, i.e., genetically trained separately of their utilization. That is how it is commonly done. Its a fact that evolution process is heavy on time; thats why Real-Time approach is rarely taken into consideration. The results presented in this paper show that such approach (Real-Time EE) is possible. These successful results are essentially due to the continuity of the targets trajectory. In EE terms, we express this by the Neighbourhood Hypothesis (NH) concept. Author Keywords:evolutionary engineering, genetic programming, genetic algorithm, tracking, real time, neighborhood hypothesis, artificial intelligence Addresses:Lehireche A, Univ Sidi Bel Abbes, Dept Comp Sci, Sidi Bel Abbes 22000, Algeria Univ Sidi Bel Abbes, Dept Comp Sci, Sidi Bel Abbes 22000, Algeria Publisher: INST MATHEMATICS & INFORMATICS, AKADEMIJOS 4, VILNIUS 2600, LITHUANIA IDS Number: 807NC ISSN: 0868-4952 ISSN: 0893-6080

-A new method for adaptive control of non-linear plants using type-2 fuzzy logic and neural networks Melin P, Castillo O INTERNATIONAL JOURNAL OF GENERAL SYSTEMS 33 (2-3): 289-304 APR-JUN 2004 Document Cited Times Language: English Explanation type: Article References: 21 Cited: 0 Abstract:We describe in this paper adaptive model-based control of non-linear plants using type-2 fuzzy logic and neural networks. First, the general concept of adaptive model-based control is described. Second, the use of type-2 fuzzy logic for adaptive control is described. Third, a neuro-fuzzy approach is proposed to learn the parameters of the fuzzy system for control. A specific non-linear plant was used to simulate the hybrid approach for adaptive control. The specific plant was also used as test bed in the experiments. The non-linear plant that was considered is the Pendubot, which is a non-linear plant similar to the two-link robot arm. The results of the type-2 fuzzy logic approach for control were good, both in accuracy and efficiency. Author Keywords: type-2 fuzzy logic, neural networks, adaptive control, pendubot Addresses: Melin P, Tijuana Inst Technol, Dept Comp Sci, POB 4207, Chula Vista, CA 91909 USA Tijuana Inst Technol, Dept Comp Sci, Chula Vista, CA 91909 USA Publisher: TAYLOR & FRANCIS LTD, 4 PARK SQUARE, MILTON PARK, ABINGDON OX14 4RN, OXON, ENGLAND IDS Number: 802EP ISSN: 0308-1079

Intelligent optimal control of single-link flexible robot arm Wai RJ, Lee MC IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 51 (1): 201-220 FEB 2004 Document Cited Times Language: English Explanation type: Article References: 26 Cited: 0 Abstract:This paper addresses the design and properties of an intelligent optimal control for a nonlinear flexible robot arm that is driven by a permanent-magnet synchronous servo motor. First, the dynamic model of a flexible robot arm system with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. In this paper, the vibration states of the nonlinear system are assumed to be unmeasurable, i.e., only the actuator position can be acquired to feed into a suitable control system for stabilizing the vibration states indirectly. Then, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Moreover, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability

can be guaranteed in the closed-loop system. In addition, numerical simulation and experimental results are given to verify the effectiveness of the proposed control scheme. Author Keywords:flexible robot arm, fuzzy neural network (FNN), intelligent control, optimal control, permanent-magnet (PM) synchronous, servo motor KeyWords Plus:NEURAL-NETWORK CONTROL, NONLINEAR-SYSTEMS, FEEDBACK-CONTROL, SLIDING-MODE, DESIGN, MOTOR, TRACKING Addresses:Wai RJ, Yuan Ze Univ, Dept Elect Engn, Chungli 320, Taiwan Yuan Ze Univ, Dept Elect Engn, Chungli 320, Taiwan Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855 USA IDS Number: 771WB -Doplnk: Fuzzy c. - st 3: A methodology for block-oriented industrial nonlinear system by nonlinear separation control with neural learning Zhang, T.; Nakamura, M. Dept. of Adv. Syst. Control Eng., Saga Univ., Japan Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference (Cat. No.02TH8648) Part: vol.4 , Page: 2622-7 vol.4 Publisher: Soc. Instrument & Control Eng. (SICE) , Tokyo, Japan , 2002 , 5 vol.xxxvi+3274 Pages Conference: SICE 2002. Proceedings of the 41st SICE Annual Conference , 5-7 Aug. 2002 , Osaka, Japan Language: English Abstract: This paper presents a general methodology for designing controller for blockoriented industrial nonlinear system by nonlinear separation control with neural learning. In this study, through rough approximation of inverse input output nonlinear statics and accurate compensation of nonlinear dynamics with rigid definition of neural network as well as learning from actual system, control performances can be improved. Based on this method, high-precision contour control of industrial articulated robot arm and outlet working fluid heat rate control of evaporator in energy conversion plant were realized. The experiment and simulation verified the significant potential of the proposed method to industrial nonlinear systems. Fuzzy unidirectional force control of constrained robotic manipulators Huang, L.; Ge, S.S.; Lee, T.H. Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore Fuzzy Sets and Systems , vol.134, no.1 , Page: 135-46 Publisher: Elsevier , 16 Feb. 2003 Language: English ISSN: 0278-0046

Abstract: The end effector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being different from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act along the outward normal of the constraint surface at the contact point. How to achieve this specification was not addressed explicitly in many position/force control schemes developed so far, instead it was assumed in the development of controllers. In this paper, the unidirectionality of the contact force is explicitly included in modeling and control of constrained robot system. A fuzzy tuning mechanism is developed to generate the impedance model resulted from the continuous contact made by the end effector of the robotic manipulator on the constraint surface while it is in motion. A controller is then developed based on the fuzzy rule bases and the nonlinear feedback technique. The simulation is carried out to verify the effectiveness of the approach. Implementation of a functional link net-ANFIS controller for a robot manipulator Hassanzadeh, I.; Khanmohammadi, S.; Jiang, J.; Alizadeh, G. Tabriz Univ., Iran Conference: Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo02 (IEEE Cat. No.02EX616) , Page: 399-404 Editor: Kozlowski, K. Publisher: Poznan Univ. Technol , Poznan, Poland , 2002 , 448 Pages Conference: Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo02 , 9-11 Nov. 2002 , Bukowy Dworek, Poland Language: English Abstract: In this paper, a new hybrid network; FLN-ANFIS (functional link net-adaptive neuro fuzzy system), is proposed and used as a controller for robot path tracking purposes. The advantages of the ANFIS controller along with fast learning rate of FLN are combined to propose a new methodology for controlling robot arm movement. Furthermore, a classic PID controller as well as the intelligent controller such as NN, fuzzy and ANFIS are developed and their performances are compared both by simulation and implementation. A 5-bar linked robot is chosen as a test system for implementation. Simulation and implementation of different controllers under various conditions are carried out on this robot. Results show that the designed FLN-ANFIS network for robot control can provide very good performances through a wide range of operations by improving dynamic operations of the system. Na tchto stranch: http://vorlon.cwru.edu/~vxl11/NetBots/thesisc.pdf je studie (80 stran):

Abstrakt:

Na stranch: http://vorlon.cwru.edu/~wsn/theses/Hao_Zhang_thesis.pdf je studie (str.):

http://eprints.ecs.soton.ac.uk/archive/00007277/ http://eprints.ecs.soton.ac.uk/archive/00008439/ http://eprints.ecs.soton.ac.uk/archive/00008550/ http://eprints.ecs.soton.ac.uk/archive/00008566/ http://eprints.ecs.soton.ac.uk/archive/00008559/ http://eprints.ecs.soton.ac.uk/archive/00008566/ http://eprints.ecs.soton.ac.uk/archive/00008872/ http://eprints.ecs.soton.ac.uk/view/year/2003.html http://www.krasnow.gmu.edu/alexei/public_html/ACG/AI.html http://www.cna.org/isaac/complex.htm Konec reere (prvn st- viz. R00013)