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Full-Text Articles in Engineering
Direct Adaptive Fuzzy Sliding Mode Decoupling Control For A Class Of Underactuated Mechanical Systems, Fares Nafa, Salim Labiod, Hachemi Chekireb
Direct Adaptive Fuzzy Sliding Mode Decoupling Control For A Class Of Underactuated Mechanical Systems, Fares Nafa, Salim Labiod, Hachemi Chekireb
Turkish Journal of Electrical Engineering and Computer Sciences
Motivated by the dynamic characteristics of underactuated mechanical systems with 2 degrees of freedom, a decoupling adaptive fuzzy sliding mode decoupling controller (DAFSMDC) is presented in this paper. By exploiting the universal approximation property of fuzzy logic systems and the sliding mode control method, this paper proposes a new decoupling strategy of the system into 2 second-order subsystems and introduces an adaptive control algorithm that guarantees the convergence of both subsystems. Since fuzzy systems are used to approximate an unknown ideal controller, the adjustable parameters of the used fuzzy systems are updated using a gradient descent algorithm that is designed …
Design Of Adaptive Compensators For The Control Of Robot Manipulators Robust To Unknown Structured And Unstructured Parameters, Recep Burkan
Design Of Adaptive Compensators For The Control Of Robot Manipulators Robust To Unknown Structured And Unstructured Parameters, Recep Burkan
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a new adaptive-robust control approach for robot manipulators is developed. The adaptive-robust control law is not only robust to unknown structured parameters but also robust to unknown unstructured parameters such as unstructured joint friction and disturbances. The bounded disturbances and unstructured model are taken into account in a dynamic model and it is assumed that the structured and unstructured parameters are unknown. The structured and unstructured parameters are distinguished between parameters and these parameters are treated separately. Next, new parameter estimation functions are developed for each of the 2 uncertainty groups. After that, the developed dynamic adaptive …
On-Line Self-Learning Pid Controller Design Of Sssc Using Self-Recurrent Wavelet Neural Networks, Soheil Ganjefar, Mojtaba Alizadeh
On-Line Self-Learning Pid Controller Design Of Sssc Using Self-Recurrent Wavelet Neural Networks, Soheil Ganjefar, Mojtaba Alizadeh
Turkish Journal of Electrical Engineering and Computer Sciences
Conventionally, FACTS devices employ a proportional-integral (PI) controller as a supplementary controller. However, the conventional PI controller has many disadvantages. The present paper aims to propose an on-line self-learning PI-derivative (PID) controller design of a static synchronous series compensator for power system stability enhancement and to overcome the PI controller problems. Unlike the PI controllers, the proposed PID controller has a local nature because of its powerful adaption process, which is based on the back-propagation (BP) algorithm that is carried out through an adaptive self-recurrent wavelet neural network identifier (ASRWNNI). In fact, the PID controller parameters are updated in on-line …