Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network

The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.With an increase in the manipulators’length,the nonlinear terms caused by fexibility in the manipulators’dynamic equations cannot be ignored.The time-varying characteristics and nonlinear terms of telescopic fexible manipulators cause fuctuations in rotation angles,which afect the operation accuracy of end-efectors.In this study,a control strategy based on a combination of fuzzy adjustment and an RBF neural network is utilized to improve the control accuracy of fexible telescopic manipulators.First,the dynamic equation of the manipulators is established using the assumed mode method and Lagrange’s principle,and the infuence of nonlinear terms is analyzed.Subsequently,a combined control strategy is proposed to suppress the fuctuation of the rotation angle in telescopic fexible manipulators.The variation ranges of the feedforward PD controller parameters are determined by the pole placement strategy and length of the manipulators.Fuzzy rules are utilized to adjust the controller parameters in real-time.The RBF neural network is utilized to identify and compensate the uncertain part of the dynamic model of the fexible manipulators.The uncertain part comprises time-varying parameters and nonlinear terms.Finally,numerical simulations and prototype experiments prove the efectiveness of the combined control strategy.The results prove that the proposed control strategy has a smaller standard deviation of errors.Therefore,the combined control strategy is more suitable for telescopic fexible manipulators,which can efectively improve the control accuracy of rotation angles.

A Multilayer Recurrent Fuzzy Neural Network for Accurate Dynamic System Modeling

A multilayer recurrent fuzzy neural network(MRFNN)is proposed for accurate dynamic system modeling.The proposed MRFNN has six layers combined with T-S fuzzy model.The recurrent structures are formed by local feedback connections in the membership layer and the rule layer.With these feedbacks,the fuzzy sets are time-varying and the temporal problem of dynamic system can be solved well.The parameters of MRFNN are learned by chaotic search(CS)and least square estimation(LSE)simultaneously,where CS is for tuning the premise parameters and LSE is for updating the consequent coefficients accordingly.Results of simulations show the proposed approach is effective for dynamic system modeling with high accuracy.

Fuzzy Entropy: Axiomatic Definition and Neural Networks Model

The measure of uncertainty is adopted as a measure of information. The measures of fuzziness are known as fuzzy information measures. The measure of a quantity of fuzzy information gained from a fuzzy set or fuzzy system is known as fuzzy entropy. Fuzzy entropy has been focused and studied by many researchers in various fields. In this paper, firstly, the axiomatic definition of fuzzy entropy is discussed. Then, neural networks model of fuzzy entropy is proposed, based on the computing capability of neural networks. In the end, two examples are discussed to show the efficiency of the model.

Modelling and control PEMFC using fuzzy neural networks

Proton exchange membrane generation technology is highly efficient, clean and considered as the most hopeful “green” power technology. The operating principles of proton exchange membrane fuel cell (PEMFC) system involve thermo-dynamics, electrochemistry, hydrodynamics and mass transfer theory, which comprise a complex nonlinear system, for which it is difficult to establish a mathematical model and control online. This paper first simply analyzes the characters of the PEMFC; and then uses the approach and self-study ability of artificial neural networks to build the model of the nonlinear system, and uses the adaptive neural-networks fuzzy infer system (ANFIS) to build the temperature model of PEMFC which is used as the reference model of the control system, and adjusts the model parameters to control it online. The model and control are implemented in SIMULINK environment. Simulation results showed that the test data and model agreed well, so it will be very useful for optimal and real-time control of PEMFC system.

Neural Network Based Multi-level Fuzzy Evaluation Model for Mechanical Kinematic Scheme

To implement a quantificational evaluation for mechanical kinematic scheme more effectively,a multi-level and multi-objective evaluation model is presented using neural network and fuzzy theory. Firstly,the structure of evaluation model is constructed according to evaluation indicator system. Then evaluation samples are generated and provided to train this model. Thus it can reflect the relation between attributive value and evaluation result,as well as the weight of evaluation indicator. Once evaluation indicators of each candidate are fuzzily quantified and fed into the trained network model,the corresponding evaluation result is outputted and the best alternative can be selected. Under this model,expert knowledge can be effectively acquired and expressed,and the quantificational evaluation can be implemented for kinematic scheme with multi-level evaluation indicator system. Several key problems on this model are discussed and an illustration has demonstrated that this model is feasible and can be regarded as a new idea for solving kinematic scheme evaluation.

Modeling of Multi-Freedom Ship Motions in Irregular Waves with Fuzzy Neural Networks

In this paper, the neural network technology is combined with the fuzzy set theory to model the wave-induced ship motions in irregular seas. This combination makes possible the handling of a non-linear dynamic system with insufficient input information. The numerical results from the strip theory are used to train the networks and to demonstrate the validity of the proposed procedure.

The Fuzzy Modeling Algorithm for Complex Systems Based on Stochastic Neural Network

A fuzzy modeling method for complex systems is studied. The notation of general stochastic neural network (GSNN) is presented and a new modeling method is given based on the combination of the modified Takagi and Sugeno's (MTS) fuzzy model and one-order GSNN. Using expectation-maximization(EM) algorithm, parameter estimation and model selection procedures are given. It avoids the shortcomings brought by other methods such as BP algorithm, when the number of parameters is large, BP algorithm is still difficult to apply directly without fine tuning and subjective tinkering. Finally, the simulated example demonstrates the effectiveness.

Neural-networks-based Modelling and a Fuzzy Neural Networks Controller of MCFC

Molten Carbonate Fuel Cells (MCFC) are produced with a highly efficient and clean power generation technology which will soon be widely utilized. The temperature characters of MCFC stack are briefly analyzed. A radial basis function (RBF) neural networks identification technology is applied to set up the temperature nonlinear model of MCFC stack, and the identification structure, algorithm and modeling training process are given in detail. A fuzzy controller of MCFC stack is designed. In order to improve its online control ability, a neural network trained by the I/O data of a fuzzy controller is designed. The neural networks can memorize and expand the inference rules of the fuzzy controller and substitute for the fuzzy controller to control MCFC stack online. A detailed design of the controller is given. The validity of MCFC stack modelling based on neural networks and the superior performance of the fuzzy neural networks controller are proved by Simulations.

Robust stability analysis of Takagi-Sugeno uncertain stochastic fuzzy recurrent neural networks with mixed time-varying delays

In this paper, the global stability of Takagi-Sugeno （TS） uncertain stochastic fuzzy recurrent neural networks with discrete and distributed time-varying delays （TSUSFRNNs） is considered. A novel LMI-based stability criterion is obtained by using Lyapunov functional theory to guarantee the asymptotic stability of TSUSFRNNs. The proposed stability conditions are demonstrated through numerical examples. Furthermore, the supplementary requirement that the time derivative of time-varying delays must be smaller than one is removed. Comparison results are demonstrated to show that the proposed method is more able to guarantee the widest stability region than the other methods available in the existing literature.

HPSO-based fuzzy neural network control for AUV

A fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainties in manual adjustments, a hybrid particle swarm optimization （HPSO） algorithm based on immune theory and nonlinear decreasing inertia weight （NDIW） strategy is proposed. Owing to the restraint factor and NDIW strategy, an HPSO algorithm can effectively prevent premature convergence and keep balance between global and local searching abilities. Meanwhile, the algorithm maintains the ability of handling multimodal and multidimensional problems. The HPSO algorithm has the fastest convergence velocity and finds the best solutions compared to GA, IGA, and basic PSO algorithm in simulation experiments. Experimental results on the AUV simulation platform show that HPSO-based controllers perform well and have strong abilities against current disturbance. It can thus be concluded that the proposed algorithm is feasible for application to AUVs.

Hybrid Power Systems Energy Controller Based on Neural Network and Fuzzy Logic

This paper presents a novel adaptive scheme for energy management in stand-alone hybrid power systems. The proposed management system is designed to manage the power flow between the hybrid power system and energy storage elements in order to satisfy the load requirements based on artificial neural network (ANN) and fuzzy logic controllers. The neural network controller is employed to achieve the maximum power point (MPP) for different types of photovoltaic (PV) panels. The advance fuzzy logic controller is developed to distribute the power among the hybrid system and to manage the charge and discharge current flow for performance optimization. The developed management system performance was assessed using a hybrid system comprised PV panels, wind turbine (WT), battery storage, and proton exchange membrane fuel cell (PEMFC). To improve the generating performance of the PEMFC and prolong its life, stack temperature is controlled by a fuzzy logic controller. The dynamic behavior of the proposed model is examined under different operating conditions. Real-time measured parameters are used as inputs for the developed system. The proposed model and its control strategy offer a proper tool for optimizing hybrid power system performance, such as that used in smart-house applications.

Robust fuzzy control of Takagi-Sugeno fuzzy neural networks with discontinuous activation functions and time delays

The problem of global robust asymptotical stability for a class of Takagi-Sugeno fuzzy neural networks（TSFNN） with discontinuous activation functions and time delays is investigated by using Lyapunov stability theory.Based on linear matrix inequalities（LMIs）,we originally propose robust fuzzy control to guarantee the global robust asymptotical stability of TSFNNs.Compared with the existing literature,this paper removes the assumptions on the neuron activations such as Lipschitz conditions,bounded,monotonic increasing property or the right-limit value is bigger than the left one at the discontinuous point.Thus,the results are more general and wider.Finally,two numerical examples are given to show the effectiveness of the proposed stability results.

Novel stability criteria for fuzzy Hopfield neural networks based on an improved homogeneous matrix polynomials technique

The global stability problem of Takagi-Sugeno（T-S） fuzzy Hopfield neural networks（FHNNs） with time delays is investigated.Novel LMI-based stability criteria are obtained by using Lyapunov functional theory to guarantee the asymptotic stability of the FHNNs with less conservatism.Firstly,using both Finsler＇s lemma and an improved homogeneous matrix polynomial technique,and applying an affine parameter-dependent Lyapunov-Krasovskii functional,we obtain the convergent LMI-based stability criteria.Algebraic properties of the fuzzy membership functions in the unit simplex are considered in the process of stability analysis via the homogeneous matrix polynomials technique.Secondly,to further reduce the conservatism,a new right-hand-side slack variables introducing technique is also proposed in terms of LMIs,which is suitable to the homogeneous matrix polynomials setting.Finally,two illustrative examples are given to show the efficiency of the proposed approaches.

On-Line Real Time Realization and Application of Adaptive Fuzzy Inference Neural Network

In this paper, a modeling algorithm developed by transferring the adaptive fuzzy inference neural network into an on-line real time algorithm, combining the algorithm with conventional system identification method and applying them to separate identification of nonlinear multi-variable systems is introduced and discussed.

Application of variable-filtrating technique on fuzzy-reasoning neural network system predicting BOF end-point carbon content

Artificial intelligence techniques have been used to predict basic oxygen furnace(BOF) end-points. However,the main challenge is to effectively reduce the input nodes as too many input nodes in neural network increase complexity,decrease accuracy and slow down the training speed of the network.Simply picking-up variables as input usually influence validity of model.It is quite necessary to develop an effective method to reduce the number of input nodes whereby to simplify the network and improve model performance.In this study,a variable-filtrating technique combining both metallurgical mechanism model and partial least-squares(PLS ) regression method has been proposed by taking the advantages of both of them,i.e.qualitive and quantative relationships between variables respectively.Accordingly,a fuzzy-reasoning neural network(FNN) prediction model for basic oxygen furnace(BOF) end-point carbon content based on this technique has been developed.The prediction results showed that this model can effectively improve the hit rate of end-point carbon content and increase network training speed.The successful hit rate of the model can reach up to 94.12%with about 0.02% error range.

基于T-S模糊模型的RBF网络的自适应学习算法

针对多维模糊推理中的推理规则庞大和参数难辨识的问题,提出一种基于T S模糊模型的RBF神经网络的自适应学习算法.该算法不仅能动态调节T S型模糊RBF网络的隐节点数,还能使网络的数据中心值自适应变化,有较好的自学习能力和优化能力.仿真结果验证了该算法是有效和可行的,表明此T S型模糊RBF网络不仅可以快速逼近任意多变量非线性函数,而且具有良好的自适应能力.

T-S型模糊RBF神经网络快速学习算法

针对Ｔ－Ｓ型模糊ＲＢＦ神经网络输入空间模糊最优聚类算法运算量大、运算速度低的缺点，提出基于输出空间模式聚类的快速学习算法，以满足多变量系统实时性要求．仿真结果表明该快速学习算法不仅可以达到要求的辨识精度。

T-S型模糊RBF神经网络的结构研究

提出Ｔ－Ｓ型模糊ＲＢＦ神经网络模型结构，讨论该模型参数的输入空间模糊最优聚类学习算法．仿真结果验证了学习算法的有效性和可行性，表明Ｔ－Ｓ型模糊ＲＢＦ神经网络可逼近任意多变量非线性函数．

T-S型模糊RBF神经网络多变量自适应控制器的研究

提出ＴＳ型模糊ＲＢＦ神经网络模型，并将该网络模型应用于多变量控制系统，构成多变量自适应控制器．同时对网络结构和参数的学习算法及网络参数的在线自学习算法进行研究．仿真结果表明本文提出的学习方法是有效的。