A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.

H_∞tracking design for a class of decentralized nonlinear systems via fuzzy adaptive observer

A novel H∞ tracking-based decentralized indirect adaptive output feedback fuzzy controller for a class of uncertain large-scale nonlinear systems is developed. By virtue of the proper filtering of the observation error dynamics, the observer-based decentralized indirect adaptive fuzzy control scheme is presented for a class of large-scale nonlinear systems using the combination of H∞ tracking technique, a fuzzy adaptive observer and fuzzy inference systems. The output feedback and adaptation mechanisms are both robust and implementable indeed owing to their freedom from the unavailable observation error vector. All the signals of the closed-loop largescale system are guaranteed to stay uniformly bounded and the output errors take on H∞ tracking performance. Simulation results substantiate the effectiveness of the proposed scheme.

Fuzzy Adaptive Filtering-Based Energy Management for Hybrid Energy Storage System

Regarding the problem of the short driving distance of pure electric vehicles,a battery,super-capacitor,and DC/DC converter are combined to form a hybrid energy storage system(HESS).A fuzzy adaptive filtering-based energy management strategy(FAFBEMS)is proposed to allocate the required power of the vehicle.Firstly,the state of charge(SOC)of the super-capacitor is limited according to the driving/braking mode of the vehicle to ensure that it is in a suitable working state,and fuzzy rules are designed to adaptively adjust the filtering time constant,to realize reasonable power allocation.Then,the positive and negative power are determined,and the average power of driving/braking is calculated so as to limit the power amplitude to protect the battery.To verify the proposed FAFBEMS strategy for HESS,simulations are performed under the UDDS(Urban Dynamometer Driving Schedule)driving cycle.The results show that the FAFBEMS strategy can effectively reduce the current amplitude of the battery,and the final SOC of the battery and super-capacitor is optimized to varying degrees.The energy consumption is 7.8%less than that of the rule-based energy management strategy,10.9%less than that of the fuzzy control energy management strategy,and 13.1%less than that of the filtering-based energy management strategy,which verifies the effectiveness of the FAFBEMS strategy.

Fuzzy Adaptive Strong Tracking Cubature Kalman Filter

To solve the problem that the choice of softening factor in conventional adaptive strong tracking filter( STF) greatly relies on the experience and computer simulation,a new concept of softening factor matrix is introduced and a fuzzy adaptive strong tracking cubature Kalman filter( FASTCKF) based on fuzzy logic controller is proposed. This method monitors residual absolute mean and standard deviation of each measurement component with fuzzy logic adaptive controller( FLAC),and adjusts the softening factor matrix dynamically by fuzzy rules,which is capable to modify suboptimal fading factor of STF adaptively and improve the filter's robust adaptive capacity. The simulation results show that the improved filtering performance is superior to the conventional square root cubature Kalman filter( SCKF) and the strong tracking square root cubature Kalman filter( STSCKF).

Finite-Time Fuzzy Adaptive Output Feedback Resilient Control of Nonlinear Cyber-Physical Systems with Sensor Attacks and Actuator Faults

This paper studies the finite-time fuzzy adaptive output feedback resilient control problem for nonlinear cyber-physical systems(CPSs) with sensor attacks and actuator faults.Fuzzy logic systems(FLSs) are used to approximate the unknown nonlinear functions,and a fuzzy state observer is constructed to estimate the unmeasured states.By combining the Nussbaum function with the backstepping control design technique,a fuzzy adaptive resilient control scheme is designed to successfully address the effects of sensor attacks and actuator faults.It is proved that the controlled system is semi-global practical finite-time stability(SGPFS),and the tracking error converges to a small neighborhood of the origin in a finite time interval.Finally,the simulation and comparison results further demonstrate the effectiveness of the designed control method.

Blockchain technology‑based FinTech banking sector involvement using adaptive neuro‑fuzzy‑based K‑nearest neighbors algorithm

The study aims to investigate the financial technology(FinTech)factors influencing Chinese banking performance.Financial expectations and global realities may be changed by FinTech’s multidimensional scope,which is lacking in the traditional financial sector.The use of technology to automate financial services is becoming more important for economic organizations and industries because the digital age has seen a period of transition in terms of consumers and personalization.The future of FinTech will be shaped by technologies like the Internet of Things,blockchain,and artificial intelligence.The involvement of these platforms in financial services is a major concern for global business growth.FinTech is becoming more popular with customers because of such benefits.FinTech has driven a fundamental change within the financial services industry,placing the client at the center of everything.Protection has become a primary focus since data are a component of FinTech transactions.The task of consolidating research reports for consensus is very manual,as there is no standardized format.Although existing research has proposed certain methods,they have certain drawbacks in FinTech payment systems(including cryptocurrencies),credit markets(including peer-to-peer lending),and insurance systems.This paper implements blockchainbased financial technology for the banking sector to overcome these transition issues.In this study,we have proposed an adaptive neuro-fuzzy-based K-nearest neighbors’algorithm.The chaotic improved foraging optimization algorithm is used to optimize the proposed method.The rolling window autoregressive lag modeling approach analyzes FinTech growth.The proposed algorithm is compared with existing approaches to demonstrate its efficiency.The findings showed that it achieved 91%accuracy,90%privacy,96%robustness,and 25%cyber-risk performance.Compared with traditional approaches,the recommended strategy will be more convenient,safe,and effective in the transition period.

Employing adaptive fuzzy computing for RCP intelligent control and fault diagnosis

Loss of coolant accident(LOCA),loss of fluid accident(LOFA),and loss of vacuum accident(LOVA)are the most severe accidents that can occur in nuclear power reactors(NPRs).These accidents occur when the reactor loses its cooling media,leading to uncontrolled chain reactions akin to a nuclear bomb.This article is focused on exploring methods to prevent such accidents and ensure that the reactor cooling system remains fully controlled.The reactor coolant pump(RCP)has a pivotal role in facilitating heat exchange between the primary cycle,which is connected to the reactor core,and the secondary cycle associated with the steam generator.Furthermore,the RCP is integral to preventing catastrophic events such as LOCA,LOFA,and LOVA accidents.In this study,we discuss the most critical aspects related to the RCP,specifically focusing on RCP control and RCP fault diagnosis.The AI-based adaptive fuzzy method is used to regulate the RCP’s speed and torque,whereas the neural fault diagnosis system(NFDS)is implemented for alarm signaling and fault diagnosis in nuclear reactors.To address the limitations of linguistic and statistical intelligence approaches,an integration of the statistical approach with fuzzy logic has been proposed.This integrated system leverages the strengths of both methods.Adaptive fuzzy control was applied to the VVER 1200 NPR-RCP induction motor,and the NFDS was implemented on the Kori-2 NPR-RCP.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

In this paper,an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system.The considered system contains unknown nonlinearfunction and actuator saturation.Fuzzy logic systems(FLSs)and a smooth function are used to approximate the unknownnonlinearities and the actuator saturation,respectively.By com-bining the command-filter technique with the backsteppingdesign algorithm,a novel adaptive fuuzy tracking backsteppingcontrol method is developed.It is proved that the adaptive fuuzycontrol scheme can guarantee that all the variables in the closed-loop system are bounded,and the system output can track thegiven reference signal as close as possible.Simulation results areprovided to illustrate the effectiveness of the proposed approach.

A solution of UAV localization problem using an interacting multiple nonlinear fuzzy adaptive H_(∞)models filter algorithm

The purpose of this research is to improve the robustness of the autonomous system in order to improve the position and velocity estimation of an Unmanned Aerial Vehicle(UAV).Therefore, new integrated SINS/GPS navigation scheme based on Interacting Multiple Nonlinear Fuzzy Adaptive H_∞ Models(IMM-NFAH_∞) filtering technique for UAV is presented. The proposed IMM-NFAH_∞ strategy switches between two different Nonlinear Fuzzy Adaptive H_∞(NFAH_∞) filters and each NFAH_∞ filter is based on different fuzzy logic inference systems. The newly proposed technique takes into consideration the high order Taylor series terms and adapts the nonlinear H_∞ filter based on different fuzzy inference systems via adaptive filter bounds(di),along with disturbance attenuation parameter c. Simulation analysis validates the performance of the proposed algorithm, and the comparison with nonlinear H_∞(NH_∞) filter and that with different NFAH_∞ filters demonstrate the effectiveness of UAV localization utilizing IMM-NFAH_∞ filter.

Fuzzy adaptive robust control for space robot considering the effect of the gravity

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

Tracking Control of Uncertain High-Order Nonlinear Systems with Odd Rational Powers and the Dead-Zone Input:A Direct Fuzzy Adaptive Control Method

This work studies the tracking issue of uncertain nonlinear systems.The existence of odd rational powers,multiple unknown parameters and the dead-zone input add many difficulties for control design.During procedures of the control design,by introducing an appropriate Lyapunov function,utilizing recursive control method and the inequality technique,some appropriate intermediate auxiliary control laws are designed under the hypothesis that nonlinear terms in the system are known.When those nonlinear terms are unknown,by employing the powerful approximation ability of fuzzy systems,the intermediate auxiliary control laws are approximated recursively and used to construct the virtual control.Finally,a new fuzzy adaptive tracking controller is constructed to ensure a small tracking error and the boundedness of all states.In this paper,the overparameterization problem is significantly avoided since only two adaptive laws are adopted.Numerical and practical examples are used to verify the raised theory.

Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle

Motivated by the autopilot of an unmanned aerial vehicle（UAV） with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller（FATC） is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality（LMI）, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded（UUB） predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.

Fuzzy adaptive sliding mode controller for electrically driven wheeled mobile robot for trajectory tracking task

This paper presents a fuzzy adaptive sliding mode controller(FASMC)for electrically driven wheeled mobile robot for trajectory tracking task in the presence of uncertainties and disturbances.First,a finite-time kinematic controller is developed to compute the auxiliary velocity vector.Second,the FASMC,based on the nonlinear dynamic model of the robot and its actuators,is used to guarantee the stability and the convergence of the closed-loop system.Moreover,by employing the advantages of the fuzzy logic systems,the developed controller ensures the robustness of the system against dynamic disturbances and uncertainties,the smoothness of the computing voltage against the chattering phenomenon,and the optimal convergence of the velocity and posture errors.The Lyapunov theory is used to analyse the stability of this algorithm.In order to evaluate the effectiveness of the developed method,numerical simulations are done in the Mahlab/Simulink environment.

Adaptive Fuzzy Control System of Servomechanism for Electro-Discharge Machining Combined with Ultrasonic Vibration

For electro-discharge machining, only in the optimum state could the highest material removal rate be realized. In practical machining process, the timely elevation of the tool electrode is needed to eliminate chipping, which ordinarily occupies quite a lot of time. Therefore, besides the control of the machining parameters, the control of the optimum discharge gap and the conversion of different machining states is also needed. In this paper, the adaptive fuzzy control system of servomechanism for EDM combined with ultrasonic vibration is studied, the servomechanism of which is composed of the stepping motor comprising variable steps and the inductive synchronizer. The fuzzy control technology is used to realize the control of the frequency and the step of the servomechanism. The adaptive fuzzy controller has three inputs and two outputs, which can well meet the actual control requirements. The constitution of the fuzzy control regulation for the step frequency is the key to the design of the whole fuzzy control system of the servomechanism. The step frequency is mainly determined by the position error and the change rate of the position error. When the value of the position error is high or medium, the controlled parameters are selected to eliminate the error; when the position error is lower, the controlled parameters are selected to avoid the over-orientation and thus keep the stability of the system. According to these, a fuzzy control table is established in advanced, which is used to express the relations between the fuzzy input parameters and the fuzzy output parameters. The input parameters and the output parameters are all expressed by the level-values in fuzzy field. Therefore, the output parameters used for control can be obtained for the fuzzy control table according to the detected actual input parameters, by which the EDM combined with ultrasonic vibration is improved and the machining efficiency is increased. In addition, a stimulation program is designed by means of Microsoft Visual Basic

Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation

In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.

A precise tidal prediction mechanism based on the combination of harmonic analysis and adaptive network-based fuzzy inference system model

An efficient and accurate prediction of a precise tidal level in estuaries and coastal areas is indispensable for the management and decision-making of human activity in the field wok of marine engineering. The variation of the tidal level is a time-varying process. The time-varying factors including interference from the external environment that cause the change of tides are fairly complicated. Furthermore, tidal variations are affected not only by periodic movement of celestial bodies but also by time-varying interference from the external environment. Consequently, for the efficient and precise tidal level prediction, a neuro-fuzzy hybrid technology based on the combination of harmonic analysis and adaptive network-based fuzzy inference system（ANFIS）model is utilized to construct a precise tidal level prediction system, which takes both advantages of the harmonic analysis method and the ANFIS network. The proposed prediction model is composed of two modules： the astronomical tide module caused by celestial bodies’ movement and the non-astronomical tide module caused by various meteorological and other environmental factors. To generate a fuzzy inference system（FIS） structure,three approaches which include grid partition（GP）, fuzzy c-means（FCM） and sub-clustering（SC） are used in the ANFIS network constructing process. Furthermore, to obtain the optimal ANFIS based prediction model, large numbers of simulation experiments are implemented for each FIS generating approach. In this tidal prediction study, the optimal ANFIS model is used to predict the non-astronomical tide module, while the conventional harmonic analysis model is used to predict the astronomical tide module. The final prediction result is performed by combining the estimation outputs of the harmonious analysis model and the optimal ANFIS model. To demonstrate the applicability and capability of the proposed novel prediction model, measured tidal level samples of Fort Pulaski tidal station are selected as the testing database. Simulation and experimental results confirm that the proposed prediction approach can achieve precise predictions for the tidal level with high accuracy, satisfactory convergence and stability.

INDIRECT ACCELERATED ADAPTIVE FUZZY CONTROLLER

According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy （IAAF） controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system＇s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process＇s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.

Combined indirect and direct method for adaptive fuzzy output feedback control of nonlinear system

A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.