Search results for " fuzzy"

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…

Design of unknown inputs proportional integral observers for TS fuzzy models

2014

In this paper the design of unknown inputs proportional integral observers for Takagi-Sugeno (TS) fuzzy models subject to unmeasurable decision variables is proposed. These unknown inputs affect both state and output of the system. The synthesis of these observers is based on two hypotheses that the unknown inputs are under the polynomials form with their kth derivatives zero for the first one and bounded norm for the second one, hence two approaches. The Lyapunov theory and L"2-gain technique are used to develop the stability conditions of such observers in LMIs (linear matrix inequality) formulation. A simulation example is given to validate and compare the proposed design conditions for …

Novel Stability Criteria for T--S Fuzzy Systems

2014

In this paper, novel stability conditions for Takagi-Sugeno (T-S) fuzzy systems are presented. The so-called nonquadratic membership-dependent Lyapunov function is first proposed, which is formulated in a higher order form of both the system states and the normalized membership functions than existing techniques in the literature. Then, new membership-dependent stability conditions are developed by the new Lyapunov function approach. It is shown that the conservativeness of the obtained criteria can be further reduced as the degree of the Lyapunov function increases. Two numerical examples are given to demonstrate the effectiveness and less conservativeness of the obtained theoretical resul…

Trajectory Decentralized Fuzzy Control of Multiple UAVs.

2008

This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.

A multi-criteria approach for the group assessment of an academic course: A case study

2015

The present paper aims at proposing a structured methodology to evaluate the results of an academic training course addressed to postgraduate students. The evaluation process intends to identify the efficacy of an education course bymeans of acomparison between the general objectives and the results expected by the students. Since the evaluated aspects by the students, detected by means of questionnaires, are both quantitative and qualitative, the proposed methodology is based on the analytic hierarchy process (AHP). In order to facilitate the evaluation process, answers have been modelled by means of linguistic variables. In particular, different evaluation scales have been used and each on…

Many-valued Logics and Quantum Mechanics

2013

The facility layout problem approached using a fuzzy model and a genetic search

2005

The problem of facility layout design is discussed, taking into account the uncertainty of production scenarios and the finite production capacity of the departments. The uncertain production demand is modelled by a fuzzy number, and constrained arithmetic operators are used in order to calculate the fuzzy material handling costs. By using a ranking criterion, the layout that represents the minimum fuzzy cost is selected. A flexible bay structure is adopted as a physical model of the system while an effective genetic algorithm is implemented to search for a near optimal solution in a fuzzy contest. Constraints on the aspect ratio of the departments are taken into account using a penalty fun…

A fuzzy-logic based evolutionary multiobjective approach for automated distribution networks management

2004

In this paper, a methodology to treat constrained scheduling problems based on the repeated application of a fuzzy-logic-based multiobjective algorithm is presented. The application domain is that of automated distribution systems management. In particular, the problem of voltage regulation and power loses minimization is here considered. The classical formulation of the problem of optimal control of shunt capacitor banks and under load tap changers, ULTC, located at high voltage/medium voltage (HV/MV) substations has been coupled with the optimal control of tie-switches and capacitor banks on the feeders of a large radially operated meshed distribution system with the aim of attaining mini…

A Self-Adapting Approach for Forecast-Less Scheduling of Electrical Energy Storage Systems in a Liberalized Energy Market

2013

In this paper, an original scheduling approach for optimal dispatch of electrical Energy Storage Systems (ESS) in modern distribution networks is proposed. The control system is based on fuzzy rules and does not use forecasts since it repairs the past history according to the real time data on the electrical energy cost, renewable energy production and load. When the system detects a worsening of performances, the fuzzy logic rule-based control system self-adapts its membership functions using an economic indicator. The common use, in the relevant literature, of forecasted values in such systems can lead to large errors and economic losses. Moreover the speed of calculation guaranteed by th…