Stabilizing controller design for uncertain nonlinear systems using fuzzy models

A Lyapunov-based stabilizing control design method for uncertain nonlinear dynamical systems using fuzzy models is proposed. The controller is constructed using a design model of the dynamical process to be controlled. The design model is obtained from the truth model using a fuzzy modeling approach. The truth model represents a detailed description of the process dynamics. The truth model is used in a simulation experiment to evaluate the performance of the controller design. A method for generating local models that constitute the design model is proposed. Sufficient conditions for stability and stabilizability of fuzzy models using fuzzy state-feedback controllers are given. The results obtained are illustrated with a numerical example involving a four-dimensional nonlinear model of a stick balancer.

A VHDL-based protocol controller for NCAP processors

This work presents the development of an IEEE 1451.2 protocol controller based on a low-cost FPGA that is directly connected to the parallel port of a conventional personal computer. In this manner it is possible to implement a Network Capable Application Processor (NCAP) based on a personal computer, without parallel port modifications. This approach allows supporting the ten signal lines of the 10-wire IEEE 1451.2 Transducer Independent Interface (TII), that connects the network processor to the Smart Transducer Interface Module (STIM) also defined in the IEEE 1451.2 standard. The protocol controller is connected to the STIM through the TII's physical interface, enabling the portability of the application at the transducer and network processor level. The protocol controller architecture was fully developed in VHDL language and we have projected a special prototype configured in a general-purpose programmable logic device. We have implemented two versions of the protocol controller, which is based on IEEE 1451 standard, and we have obtained results using simulation and experimental tests. (c) 2008 Elsevier B.V. All rights reserved.

Differential-Evolution-Based Optimization of the Dynamic Response for Parallel Operation of Inverters With No Controller Interconnection

In this paper, the use of differential evolution ( DE), a global search technique inspired by evolutionary theory, to find the parameters that are required to achieve optimum dynamic response of parallel operation of inverters with no interconnection among the controllers is proposed. Basically, in order to reach such a goal, the system is modeled in a certain way that the slopes of P-omega and Q-V curves are the parameters to be tuned. Such parameters, when properly tuned, result in system's eigenvalues located in positions that assure the system's stability and oscillation-free dynamic response with minimum settling time. This paper describes the modeling approach and provides an overview of the motivation for the optimization and a description of the DE technique. Simulation and experimental results are also presented, and they show the viability of the proposed method.

An Intelligent Controller Design for Magnetorheological Damper Based on a Quarter-car Model

This paper presents the control strategies of nonlinear vehicle suspension using a magnetorheological (MR) damper. We used two different approaches for modeling and control of the mechanical and electrical parts of the suspension systems with the MR damper. First, we have formulated and resolved the control problem in order to design the linear feedback dumping force controller for a nonlinear suspension system. Then the values of the control dumping force functions were transformed into electrical control signals by the application of a fuzzy logic control method. The numerical simulations were provided in order to show the effectiveness of this method for the semi-active control of the quarter-car suspension.

Multivalued adaptive neuro-fuzzy controller for robot vehicle - art. no. 1406

Robotic vehicle navigation in unstructured and uncertain environments is still a challenge. This paper presents the implementation of a multivalued neurofuzzy controller for autonomous ground vehicle (AGVs) in indoor environments. The control system consists of a hierarchy of mobile robot using multivalued adaptive neuro-fuzzy inference system behaviors.

Design of a fuzzy Takagi-Sugeno controller to vary the joint knee angle of paraplegic patients

The papers shows, through theoretical studies and simulations, that using the description of the plant by Takagi-Sugeno (T-S), it is possible to design a nonlinear controller to control the position of the leg of a paraplegic patient. The control system was designed to change the angle of the joint knee of 60 degrees. This is the first study that describes the application of Takagi-Sugeno (T-S) models in this kind of problem.

Simplified architecture of a neurofuzzy controller applied on industrial systems for fluid flow control

This work presents a simplified architecture of a neurofuzzy controller for general purpose applications that tries to minimize the processing used in the several stages of hazy modeling of systems. The basic procedures of fuzzification and defuzzification are simplified to the maximum while the inference procedures are computed in a private way. The simplified architecture allows a fast and easy configuration of the neurofuzzy controller and the structuring rules that define the control actions is automatic. Th controller's Limits and performance are standardized and the control actions are previously calculated. For application, the industrial systems of fluid flow control will be considered.

Variable structure controller and observer applied to induction machine

This work will propose the control of an induction machine in field coordinates with imposed stator current based on theory of variable structure control and sliding mode. We describe the model of an induction machine in field coordinates with imposed stator current and we show the design of variable structure control and sliding mode to get a desirable dynamic performance of that plant. To estimate the inaccessible states we will use a state observer (estimator) based on field coordinates induction machine. We will present the results of simulations in any operation condition (start, speed reversal and load) and with parameters variation of the machine compared to a PI control scheme.

A controller design used in Lorenz synchronization chaotic system for secure communication based on LMI fuzzy control system

This paper describes a mathematical study about chaotic system and about the unified approach of chaos control via fuzzy control system based in Linear Matrix Inequality to design a controller which synchronizes the transmission/reception system. This system, that was based in Lorenz chaotic circuit, can be used for transmit signals in secure way.

Design of a fuzzy controller with simplified architecture

This work presents the design of a fuzzy controller with simplified architecture. This architecture tries to minimize the time processing used in? the several stages of hazy modeling of systems and processes. The basic procedures of fuzzification and defuzzification are simplified to the maximum while the inference procedures are computed in private way. Therefore, the simplified architecture allows a fast and easy configuration of the fuzzy controller.All rules that define the control actions are determined by inference procedures and the defuzzification is made automatically using a simplified algorithm. The fuzzy controller operation is standardized and the control actions are previously calculated For general-purpose application? ann results, the industrial systems of fluid pow cona ol will be considered.

Mnltiloop Controller and Reference Generator for a Dynamic Voltage Restorer Implementation

This paper deals with the design and analysis of a Dynamic Voltage Restorer output voltage control. Such control is based on a multiloop strategy, with an inner current PID regulator and an outer P+Resonant voltage controller. The inner regulator is applied on the output inductor current. It will be also demonstrated how the load current behavior may influence in the DVR output voltage, which. justifies the need for the resonant controller. Additionally, it will be discussed the application of a modified algorithm for the identification of the DVR voltage references, which is based on a previously presented positive sequence detector. Since the studied three-phase DVR is assumed to be based on three identical H-bridge converters, all the analysis and design procedures were realized by means of single-phase equivalent circuits. The discussions and conclusions are supported by theoretical calculations, nonlinear simulations and some experimental results.

New approach of induction machine drive using an adaptive digital PID controller with gain planning based on artificial neural networks

The present work introduces a new strategy of induction machines speed adjustment using an adaptive PID (Proportional Integral Derivative) digital controller with gain planning based on the artificial neural networks. This digital controller uses an auxiliary variable to determine the ideal induction machine operating conditions and to establish the closed loop gain of the system. The auxiliary variable value can be estimated from the information stored in a general-purpose artificial neural network based on CMAC (Cerebellar Model Articulation Controller).

Low-cost PWM speed controller for an electric mini-baja type vehicle

This paperwork presents a Pulse Width Modulation (PWM) speed controller for an electric mini-baja-type car. A battery-fed 1-kW three-phase induction motor provides the electric vehicle traction. The open-loop speed control is implemented with an equal voltage/frequency ratio, in order to maintain a constant amount of torque on all velocities. The PWM is implemented by a low-cost 8-bit microcontroller provided with optimized ROM charts for distinct speed value implementations, synchronized transition between different charts and reduced odd harmonics generation. This technique was implemented using a single passenger mini-baja vehicle, and the essays have shown that its application resulted on reduced current consumption, besides eliminating mechanical parts. Copyright © 2007 by ABCM.

Applying a genetic neuro-model reference adaptive controller in drilling optimization

Motivated by rising drilling operation costs, the oil industry has shown a trend toward real-time measurements and control. In this scenario, drilling control becomes a challenging problem for the industry, especially due to the difficulty associated with parameters modeling. One of the drillbit performance evaluators, the Rate Of Penetration (ROP), has been used as a drilling control parameter. However, relationships between operational variables affecting the ROP are complex and not easily modeled. This work presents a neuro-genetic adaptive controller to treat this problem. It is based on an auto-regressive with extra input signals, or ARX model and on a Genetic Algorithm (GA) to control the ROP. © [2006] IEEE.

A genetic neuro-model reference adaptive controller for petroleum wells drilling operations

Motivated by rising drilling operation costs, the oil industry has shown a trend towards real-time measurements and control. In this scenario, drilling control becomes a challenging problem for the industry, especially due to the difficulty associated to parameters modeling. One of the drill-bit performance evaluators, the Rate of Penetration (ROP), has been used in the literature as a drilling control parameter. However, the relationships between the operational variables affecting the ROP are complex and not easily modeled. This work presents a neuro-genetic adaptive controller to treat this problem. It is based on the Auto-Regressive with Extra Input Signals model, or ARX model, to accomplish the system identification and on a Genetic Algorithm (GA) to provide a robust control for the ROP. Results of simulations run over a real offshore oil field data, consisted of seven wells drilled with equal diameter bits, are provided. © 2006 IEEE.