Search results for " Fuzzy Inference System"
showing 10 items of 28 documents
Inverse kinematics of a 7 DOF manipulator using Adaptive Neuro-Fuzzy Inference Systems
2012
This paper was carried out objectively to explore and describe the inverse kinematics solutions of an anthropomorphic redundant robotic structure with seven degrees of freedom and human like workspace. Traditional inverse kinematics methods can have an unacceptably slow pace for the today's extremely redundant systems. The presented method uses the Adaptive Neuro-Fuzzy Inference Systems (ANFIS) editor and the Fuzzy Logic toolbox from MATLAB® which allow the investigation of various kinematical suitable solutions. ANFIS supports the determination of one degree of freedom, remaining therefore only six undetermined degrees. For better understanding of the simulations a CAD model that mimics th…
Adaptive neuro-fuzzy inference system for kinematics solutions of redundant robots
2016
This written paper presents aspects concerning the implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) in the resolution of a redundant serial robot kinematics. The kinematics solutions are divided into two categories: direct kinematics solutions and inverse kinematics solutions. To be able to control a robot the most important solutions are the ones for the inverse kinematics since one knows the position and the final orientation of the end effector and needs to determine the relative displacement or movements into the robot couplings. To obtain the optimal solutions for the inverse kinematics of a redundant robot the mathematical equations were based onto the redundancy ci…
Type-2 Fuzzy Control of a Bioreactor
2009
Abstract—In this paper the control of a bioprocess using an adaptive type-2 fuzzy logic controller is proposed. The process is concerned with the aerobic alcoholic fermentation for the growth of Saccharomyces Cerevisiae a n d i s characterized by nonlinearity and parameter uncertainty. Three type-2 fuzzy controllers heve been developed and tested by simulation: a simple type-2 fuzzy logic controller with 49 rules; a type-2 fuzzyneuro- predictive controller (T2FNPC); a t y p e -2 selftuning fuzzy controller ( T2STFC). The T2FNPC combines the capability of the type-2 fuzzy logic to handle uncertainties, with the ability of predictive control to predict future plant performance making use of a…
An FPGA-Based Adaptive Fuzzy Coprocessor
2005
The architecture of a general purpose fuzzy logic coprocessor and its implementation on an FPGA based System on Chip is described. Thanks to its ability to support a fast dynamic reconfiguration of all its parameters, it is suitable for implementing adaptive fuzzy logic algorithms, or for the execution of different fuzzy algorithms in a time sharing fashion. The high throughput obtained using a pipelined structure and the efficient data organization allows significant increase of the computational capabilities strongly desired in applications with hard real-time constraints.
Broken rotor bars detection via Park's vector approach based on ANFIS
2014
Many attempts have been made on fault diagnosis of induction motors based on frequency and time domain analysis of stator current. In this paper, first the Park's vector transformation and frequency analysis for fault detection of induction motors are introduced. Then a smart approach using Adaptive Neuro Fuzzy Inference System (ANFIS) is proposed. This approach uses the time domain features derived from the Park's vector transformation of stator current. By the proposed method, a partial break including 5 mm crack on a bar, one broken bar and two broken bars using experimental data are investigated. It will be shown that features derived from Park's vector compared to features obtained fro…
Adaptive neural-fuzzy inference system based method to modeling of vehicle crash
2013
Various areas of research need to be considered in order to establish a mathematical model of a vehicle crash. To enhance the modeling process, a novel ANFIS-based approach to reconstruct behavior of impacting vehicles is presented in this paper. Kinematics of center of gravity (COG) a vehicle involved in an oblique barrier collision is reproduced by application of a five-layered ANFIS structure. Then, the same ANFIS system is used to simulate a different collision type than the one which was used in the training stage. The points of interests are selected to be the locations of accelerometers mounting. The accuracy of the proposed method is evaluated by the comparative analysis with the re…
A fuzzy logic approach to modeling a vehicle crash test
2013
Published version of an article in the journal: Central European Journal of Engineering. Also available from the publisher at: http://dx.doi.org/10.2478/s13531-012-0032-2 This paper presents an application of fuzzy approach to vehicle crash modeling. A typical vehicle to pole collision is described and kinematics of a car involved in this type of crash event is thoroughly characterized. The basics of fuzzy set theory and modeling principles based on fuzzy logic approach are presented. In particular, exceptional attention is paid to explain the methodology of creation of a fuzzy model of a vehicle collision. Furthermore, the simulation results are presented and compared to the original vehic…
A genetic integrated fuzzy classifier
2005
This paper introduces a new classifier, that is based on fuzzy-integration schemes controlled by a genetic optimisation procedure. Two different types of integration are proposed here, and are validated by experiments on real data sets of biological cells. The performance of our classifier is tested against a feed-forward neural network and a Support Vector Machine. Results show the good performance and robustness of the integrated classifier strategies.
A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints
2005
Abstract In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller sy…
Control of uncertain highly nonlinear biological process based on Takagi–Sugeno fuzzy models
2015
This note deals with the control of uncertain highly nonlinear biological processes. Indeed, an adaptive fuzzy control (AFC) scheme is developed for the pre-treatment of wastewater represented by a Takagi-Sugeno (TS) fuzzy model. The proposed approach uses a fuzzy system to approximate the unknown substrate consumption rate in designing the adaptive controller, and then an observer is designed to estimate the concentration in substrate at the outlet bioreactor. The observer is employed to generate an error signal for the adaptive control law which permits to minimize the influence of the measurement noise on the estimation of the substrate concentration. An update of the fuzzy models parame…