1,721,237 research outputs found
Template--Base Fuzzy System Modeling
No full textIn this paper a template--base algorithm for fuzzy system modeling is presented and discussed. The algorithm identifies the fuzzy rules describing the system behavior from input--output data. This approach assumes an expert has provided a collection of linguistic terms (templates) that describe the fuzzy model environment. The algorithm computes the {\em level of firing} of templates by the input--output data. The best rule candidate is formed by picking up the terms with closer level of firing. In order to show the procedure performance, the identification of algebraic and dynamics systems are reported
Analysis and Synthesis Methods for Fuzzy Logic Controllers
No full textFuzzy logic in control has been successful used to capture heuristic control laws obtained from human experience or engineering practice in automated algorithm. These control laws are defined by means of linguistic rule, for example ``if the pressure is high, then decrease the pump power''. The heuristic approach in the controller design can be appealing for its simplicity, but formal design method can be mandatory in some cases.This thesis aims at defining some original method for the analysis and design of fuzzy logic controller. More in detail some properties of Variable Structure Control theory have been used, in particular the sliding mode dynamics, to design the rules and the membership functions of a Fuzzy Logic Control. In the second part of the thesis a model-based procedure for the synthesis of a fuzzy logic controller is presented. This algorithm defines the linguistic rules of a fuzzy logic controller, starting from a desired closed loop behavior and a plant model, both described via linguistic statements. To obtain a plant model in a linguistic form, suitable for the above algorithm, a novel identification procedure is proposed
linguistic Rule Synthesis of a Fuzzy Logic Controller
No full textIn this paper a model-based procedure for the synthesis of a fuzzy logic controller is presented. This procedure defines the linguistic rules of a fuzzy logic controller, starting from a desired closed loop behavior and a plant model, both described via linguistic statements. Moreover we introduce a novel identification procedure to obtain a plant model in a linguistic form, suitable for the above algorithm
Fuzzy Logic--Sliding Mode Hybrid Control
No full textIn this paper a hybrid fuzzy logic--sliding mode control technique is presented and discussed. The Variable Structure Control (VSC) with Sliding Mode (SM) dynamic is a well known theory for the design of robust and globally stable controller for non--linear system. In this paper a VSC based design procedure for a fuzzy controller is given, and stability properties are discussed. In order to outline the feature of the proposed idea, the hybrid controller has been tested on a robotic gripper. The experimental results show good performance of the fuzzy controller
Mechatronic objects encapsulation in IEC 1131-3 norm
No full textThis paper concerns with the definition and use of 'mechatronic objects' for the design of complex manufacturing system as large machinery. In particular the programming languages and structures defined under the IEC 1131-3 norm are considered regarding the software encapsulation of the mechanical system. The paper reports about a real application example of the proposed concepts showing effectiveness of the object-oriented framework for industrial applications
Multiple-layer variable structure controller with parameter adaptation.
No full textThis paper deals with the design procedure of aMultiple Layer Variable Structure Controller (ML-VSC) with on-lineparameter adaptation.The ML-VSC is obtained by non-linear interpolation of the control lawsof a set of VSC with sliding mode dynamics, each of them designed onthe basis of progressively pessimistic estimates of the parametricuncertainty and disturbance input of the plant.This new structure improves both the robustness and controlperformance of the single VS controller when poor knowledge on plantparameters and disturbance bounds is available.The control algorithm is completed by an on-line adaptation mechanismaiming to achieve fine tuning of the parameters. This mechanism isbased on the trade-off between the ``chattering'' effect and thetracking error. This heuristics, formulated in terms of ``if--then''linguistic rules, is implemented by a Fuzzy Logic (FL) algorithm.The paper also addresses the stability issue of the closed loopsystem, giving sufficient conditions for global stability in thepresence of bounded disturbance and modeling uncertainties. Finally, asimple simulation example illustrates the main design steps of thecontrol approach propose
The Control System of the U.B. Hand II: an Overview of the Hardware Design and Implementation
No full textThe paper describes the control system of the University of Bologna Robotic Hand
Showcase of a Fuzzy Logic Controller Design
No full textIn this paper a method developed by the authors for defining a Sugeno--Takagi Fuzzy Logic Controller parameters is illustrated. The procedure, based on the Variable Structure System approach, defines an adaptive fuzzy control structure. In order to show the effectiveness of the proposed solution, the controller is applied to a known benchmark control problem and the obtained simulation results are discussed
Chaos: Base mechanisms in circuits
No full textIn this paper base-mechanisms of chaos generation in circuits are investigated, underlining that it is a common phenomenon and not a mathematic abstraction. Several examples of chaotic behaviours are presented and their undesired effect or deliberate results are discussed
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