The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition and fuzzy control is an especial type of non-linear control. Inverse pendulum system is one the most widely popular non-linear systems which is known for its specific characteristics such as being intrinsically non-linear and unsteady. Therefore, a controller is required for maintaining stability of the system Present study tries to compare the obtained results from designing fuzzy intelligent controllers in similar conditions and also identify the appropriate controller for holding the inverse pendulum in vertical position on the cart.
Radial basis function neural network control for parallel spatial robotTELKOMNIKA JOURNAL
The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally, numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example.
An Exponential Observer Design for a Class of Chaotic Systems with Exponentia...ijtsrd
In this paper, a class of generalized chaotic systems with exponential nonlinearity is studied and the state observation problem of such systems is explored. Using differential inequality with time domain analysis, a practical state observer for such generalized chaotic systems is constructed to ensure the global exponential stability of the resulting error system. Besides, the guaranteed exponential decay rate can be correctly estimated. Finally, several numerical simulations are given to demonstrate the validity, effectiveness, and correctness of the obtained result. Yeong-Jeu Sun "An Exponential Observer Design for a Class of Chaotic Systems with Exponential Nonlinearity" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-1 , December 2020, URL: https://www.ijtsrd.com/papers/ijtsrd38233.pdf Paper URL : https://www.ijtsrd.com/engineering/electrical-engineering/38233/an-exponential-observer-design-for-a-class-of-chaotic-systems-with-exponential-nonlinearity/yeongjeu-sun
Global stabilization of a class of nonlinear system based on reduced order st...ijcisjournal
The problem of global stabilization for a class of nonlinear system is considered in this paper.The sufficient
condition of the global stabilization of this class of system is obtained by deducing thestabilization of itself
from the stabilization of its subsystems. This paper will come up with a designmethod of state feedback
control law to make this class of nonlinear system stable, and indicate the efficiency of the conclusion of
this paper via a series of examples and simulations at the end. Theresults presented in this paper improve
and generalize the corresponding results of recent works.
ACTIVE CONTROLLER DESIGN FOR THE GENERALIZED PROJECTIVE SYNCHRONIZATION OF TH...ijait
This paper discusses the design of active controllers for generalized projective synchronization (GPS) of identical Wang 3-scroll chaotic systems (Wang, 2009), identical Dadras 3-scroll chaotic systems (Dadras and Momeni, 2009) and non-identical Wang 3-scroll system and Dadras 3-scroll system. The synchronization results (GPS) derived in this paper for the 3 scroll chaotic systems have been derived using active control method and established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the active control method is very effective and convenient for
achieving the generalized projective synchronization (GPS) of the 3-scroll chaotic systems addressed in this paper. Numerical simulations are provided to illustrate the effectiveness of the GPS synchronization results derived in this paper.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical simulations are presented to demonstrate the effectiveness of the synchronization schemes.
Exponential State Observer Design for a Class of Uncertain Chaotic and Non-Ch...ijtsrd
In this paper, a class of uncertain chaotic and non-chaotic systems is firstly introduced and the state observation problem of such systems is explored. Based on the time-domain approach with integral and differential equalities, an exponential state observer for a class of uncertain nonlinear systems is established to guarantee the global exponential stability of the resulting error system. Besides, the guaranteed exponential convergence rate can be calculated correctly. Finally, numerical simulations are presented to exhibit the feasibility and effectiveness of the obtained results. Yeong-Jeu Sun "Exponential State Observer Design for a Class of Uncertain Chaotic and Non-Chaotic Systems" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-1 , December 2018, URL: http://www.ijtsrd.com/papers/ijtsrd20219.pdf
http://www.ijtsrd.com/engineering/electrical-engineering/20219/exponential-state-observer-design-for-a-class-of-uncertain-chaotic-and-non-chaotic-systems/yeong-jeu-sun
Radial basis function neural network control for parallel spatial robotTELKOMNIKA JOURNAL
The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally, numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example.
An Exponential Observer Design for a Class of Chaotic Systems with Exponentia...ijtsrd
In this paper, a class of generalized chaotic systems with exponential nonlinearity is studied and the state observation problem of such systems is explored. Using differential inequality with time domain analysis, a practical state observer for such generalized chaotic systems is constructed to ensure the global exponential stability of the resulting error system. Besides, the guaranteed exponential decay rate can be correctly estimated. Finally, several numerical simulations are given to demonstrate the validity, effectiveness, and correctness of the obtained result. Yeong-Jeu Sun "An Exponential Observer Design for a Class of Chaotic Systems with Exponential Nonlinearity" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-1 , December 2020, URL: https://www.ijtsrd.com/papers/ijtsrd38233.pdf Paper URL : https://www.ijtsrd.com/engineering/electrical-engineering/38233/an-exponential-observer-design-for-a-class-of-chaotic-systems-with-exponential-nonlinearity/yeongjeu-sun
Global stabilization of a class of nonlinear system based on reduced order st...ijcisjournal
The problem of global stabilization for a class of nonlinear system is considered in this paper.The sufficient
condition of the global stabilization of this class of system is obtained by deducing thestabilization of itself
from the stabilization of its subsystems. This paper will come up with a designmethod of state feedback
control law to make this class of nonlinear system stable, and indicate the efficiency of the conclusion of
this paper via a series of examples and simulations at the end. Theresults presented in this paper improve
and generalize the corresponding results of recent works.
ACTIVE CONTROLLER DESIGN FOR THE GENERALIZED PROJECTIVE SYNCHRONIZATION OF TH...ijait
This paper discusses the design of active controllers for generalized projective synchronization (GPS) of identical Wang 3-scroll chaotic systems (Wang, 2009), identical Dadras 3-scroll chaotic systems (Dadras and Momeni, 2009) and non-identical Wang 3-scroll system and Dadras 3-scroll system. The synchronization results (GPS) derived in this paper for the 3 scroll chaotic systems have been derived using active control method and established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the active control method is very effective and convenient for
achieving the generalized projective synchronization (GPS) of the 3-scroll chaotic systems addressed in this paper. Numerical simulations are provided to illustrate the effectiveness of the GPS synchronization results derived in this paper.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical simulations are presented to demonstrate the effectiveness of the synchronization schemes.
Exponential State Observer Design for a Class of Uncertain Chaotic and Non-Ch...ijtsrd
In this paper, a class of uncertain chaotic and non-chaotic systems is firstly introduced and the state observation problem of such systems is explored. Based on the time-domain approach with integral and differential equalities, an exponential state observer for a class of uncertain nonlinear systems is established to guarantee the global exponential stability of the resulting error system. Besides, the guaranteed exponential convergence rate can be calculated correctly. Finally, numerical simulations are presented to exhibit the feasibility and effectiveness of the obtained results. Yeong-Jeu Sun "Exponential State Observer Design for a Class of Uncertain Chaotic and Non-Chaotic Systems" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-1 , December 2018, URL: http://www.ijtsrd.com/papers/ijtsrd20219.pdf
http://www.ijtsrd.com/engineering/electrical-engineering/20219/exponential-state-observer-design-for-a-class-of-uncertain-chaotic-and-non-chaotic-systems/yeong-jeu-sun
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
A Detailed Comparative Study between Reduced Order Cumming Observer & Reduced...IJERD Editor
In this article a detailed comparative study between two well known observer design methodologies
namely, reduced order Cumming observer & reduced order Das &Ghoshal observer has been presented. The
necessary equations & conditions corresponding to these two types of observers are discussed in brief.
Thereafter with the help of a structure wise comparison the similarities & dissimilarities between the above
mentioned methods are explained in details. Finally a performance wise comparison between these two is shown
using proper numerical example & illustrations in open loop as well as closed loop.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the
generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived
such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical
simulations are presented to demonstrate the effectiveness of the synchronization schemes.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the
generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived
such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical
simulations are presented to demonstrate the effectiveness of the synchronization schemes.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Identification and Control of Three-Links Electrically Driven Robot Arm Using...Waqas Tariq
This paper uses a fuzzy neural network (FNN) structure for identifying and controlling nonlinear dynamic systems such three links robot arm. The equation of motion for three links robot arm derived using Lagrange’s equation. This equation then combined with the equations of motion for dc. servo motors which actuated the robot. For the control problem, we present the forward and inverse adaptive control approaches using the FNN. Computer simulation is performed to view the results for identification and control
—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle's invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors. Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Hierarchical robust fuzzy sliding mode control for a class of simo under-actu...TELKOMNIKA JOURNAL
The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, the chattering phenomenon is its main disadvantage. To overcome the above disadvantage, in this paper, a new compound control scheme is proposed for SIMO under-actuated based on HSMC and fuzzy logic control (FLC). By using the HSMC approach, a sliding control law is derived so as to guarantee the stability and robustness under various environments. The FLC as the second controller completely removes the chattering signal caused by the sign function in the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear robust controller design is major subject in this work. At present, robot manipulators are used in unknown and unstructured situation and caused to provide complicated systems, consequently nonlinear classical controllers are used in artificial intelligence control methodologies to design nonlinear robust controller with satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Sliding mode controller (SMC) and computed torque controller (CTC) are the best nonlinear robust controllers which can be used in uncertainty nonlinear. Sliding mode controller has two most important challenges in uncertain systems: chattering phenomenon and nonlinear dynamic equivalent part. Computed torque controller works very well when all nonlinear dynamic parameters are known. This research is focused on the applied non-classical method (e.g., Fuzzy Logic) in robust classical method (e.g., Sliding Mode Controller and computed torque controller) in the presence of uncertainties and external disturbance to reduce the limitations. Applying the Mamdani’s error based fuzzy logic controller with minimum rules is the first goal that causes the elimination of the mathematical nonlinear dynamic in SMC and CTC. Second target focuses on the elimination of chattering phenomenon with regard to the variety of uncertainty and external disturbance in fuzzy sliding mode controller and computed torque like controller by optimization the tunable gain. Therefore fuzzy sliding mode controller with tunable gain (GTFSMC) and computed torque like controller with tunable gain (GTCTLC) will be presented in this paper.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The papers for publication in The International Journal of Engineering& Science are selected through rigorous peer reviews to ensure originality, timeliness, relevance, and readability.
FREQUENCY RESPONSE ANALYSIS OF 3-DOF HUMAN LOWER LIMBSIJCI JOURNAL
Frequent and prolonged expose of human body to vibrations can induce back pain and physical disorder
and degeneration of tissue. The biomechanical model of human lower limbs are modeled as a three degree
of freedom linear spring-mass-damper system to estimate forces and frequencies. Then three degree of
freedom system was analysed using state space method to find natural frequency and mode shape. A
program was develop to solve simplified equations and results were plotted and discussed in detail. The
mass, stiffness and damping coefficient of various segments are taken from references. The optimal values
of the damping ratios of the body segments are estimated, for the three degrees of freedom model. At last
resonance frequencies are found to avoid expose of lower limbs to such environment for optimum comfort.
Attitude Control of Quadrotor Using PD Plus Feedforward Controller on SO(3)IJECEIAES
This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3 3 identity matrix.
A nonlinear model for the vibration suppression of a smart composite elastic plate using graphical representation involving fuzzy control is presented. The plate follows the von Kármán and Kirchhoff plate bending theories and the oscillations are caused by external transversal loading forces, which are applied directly on it. Two different control forces, one continuous and one located at discrete points, are considered. The mechanical model is spatially discretized by using the time spectral Galerkin and collocation methods. The aim is to suppress vibrations through a simulation process within a modern graphical computing environment. Here we use MATLAB/SIMULINK, while other similar packages can be used as well. The nonlinear controller is designed, based on an application of a Mamdani-type fuzzy inference system. A computational algorithm, proposed and tested here is not only effective but robust as well. Furthermore, all elements of the study can be replaced or extended, due to the flexibility of the used SIMULINK environment.
Adaptive Type-2 Fuzzy Second Order Sliding Mode Control for Nonlinear Uncerta...rinzindorjej
In this paper, a robust adaptive type-2 fuzzy nonsingular sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances. In Higher Order Sliding Mode Control (HOSMC),the chattering phenomena of the control effort is reduced, by using Super Twisting algorithm. Adaptive interval type-2 fuzzy systems are proposed to approximate the unknown part of uncertain chaotic system and to generate the Super Twisting signals. Based on Lyapunov criterion, adaptation laws are derived and the closed loop system stability is guaranteed. An illustrative example is given to demonstrate the effectiveness of the proposed controller.
Removing Uninteresting Bytes in Software FuzzingAftab Hussain
Imagine a world where software fuzzing, the process of mutating bytes in test seeds to uncover hidden and erroneous program behaviors, becomes faster and more effective. A lot depends on the initial seeds, which can significantly dictate the trajectory of a fuzzing campaign, particularly in terms of how long it takes to uncover interesting behaviour in your code. We introduce DIAR, a technique designed to speedup fuzzing campaigns by pinpointing and eliminating those uninteresting bytes in the seeds. Picture this: instead of wasting valuable resources on meaningless mutations in large, bloated seeds, DIAR removes the unnecessary bytes, streamlining the entire process.
In this work, we equipped AFL, a popular fuzzer, with DIAR and examined two critical Linux libraries -- Libxml's xmllint, a tool for parsing xml documents, and Binutil's readelf, an essential debugging and security analysis command-line tool used to display detailed information about ELF (Executable and Linkable Format). Our preliminary results show that AFL+DIAR does not only discover new paths more quickly but also achieves higher coverage overall. This work thus showcases how starting with lean and optimized seeds can lead to faster, more comprehensive fuzzing campaigns -- and DIAR helps you find such seeds.
- These are slides of the talk given at IEEE International Conference on Software Testing Verification and Validation Workshop, ICSTW 2022.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
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International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
A Detailed Comparative Study between Reduced Order Cumming Observer & Reduced...IJERD Editor
In this article a detailed comparative study between two well known observer design methodologies
namely, reduced order Cumming observer & reduced order Das &Ghoshal observer has been presented. The
necessary equations & conditions corresponding to these two types of observers are discussed in brief.
Thereafter with the help of a structure wise comparison the similarities & dissimilarities between the above
mentioned methods are explained in details. Finally a performance wise comparison between these two is shown
using proper numerical example & illustrations in open loop as well as closed loop.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the
generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived
such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical
simulations are presented to demonstrate the effectiveness of the synchronization schemes.
SYNCHRONIZATION OF A FOUR-WING HYPERCHAOTIC SYSTEMijccmsjournal
This paper presents synchronization of a four-dimensional autonomous hyperchaotic system based on the
generalized augmented Lü system. Based on the Lyapunov stability theory an active control law is derived
such that the two four-dimensional autonomous hyper-chaotic systems are to be synchronized. Numerical
simulations are presented to demonstrate the effectiveness of the synchronization schemes.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Identification and Control of Three-Links Electrically Driven Robot Arm Using...Waqas Tariq
This paper uses a fuzzy neural network (FNN) structure for identifying and controlling nonlinear dynamic systems such three links robot arm. The equation of motion for three links robot arm derived using Lagrange’s equation. This equation then combined with the equations of motion for dc. servo motors which actuated the robot. For the control problem, we present the forward and inverse adaptive control approaches using the FNN. Computer simulation is performed to view the results for identification and control
—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle's invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors. Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Hierarchical robust fuzzy sliding mode control for a class of simo under-actu...TELKOMNIKA JOURNAL
The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, the chattering phenomenon is its main disadvantage. To overcome the above disadvantage, in this paper, a new compound control scheme is proposed for SIMO under-actuated based on HSMC and fuzzy logic control (FLC). By using the HSMC approach, a sliding control law is derived so as to guarantee the stability and robustness under various environments. The FLC as the second controller completely removes the chattering signal caused by the sign function in the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tun...Waqas Tariq
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The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
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Sectoral targets and attacks as well as the cost of ransom
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📕 Curious on our agenda? Wait no more!
10:00 Welcome note - UiPath Community in Dubai
Lovely Sinha, UiPath Community Chapter Leader, UiPath MVPx3, Hyper-automation Consultant, First Abu Dhabi Bank
10:20 A UiPath cross-region MEA overview
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AN INVESTIGATION ON FUZZY LOGIC CONTROLLERS (TAKAGI-SUGENO & MAMDANI) IN INVERSE PENDULUM SYSTEM
1. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
DOI : 10.5121/ijfls.2013.3301 1
AN INVESTIGATION ON FUZZY LOGIC
CONTROLLERS (TAKAGI-SUGENO & MAMDANI) IN
INVERSE PENDULUM SYSTEM
Qasem Abdollah Nezhad 1
, Javad Palizvan Zand 2
and Samira Shah Hoseini 3
1&3
Department of Mechatronics Engineering, Science and Research Branch Kurdistan
Islamic Azad University, Tabriz, Iran
qasem_a_nejad@yahoo.com
smr.shhoseini@gmail.com
2
Department of Civil Engineering, Tabriz University, Tabriz, Iran
j.palizvan@gmail.com
ABSTRACT
The concept of controlling non-linear systems is one the significant fields in scientific researches for the
purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems
with ambiguous definition and fuzzy control is an especial type of non-linear control. Inverse pendulum
system is one the most widely popular non-linear systems which is known for its specific characteristics
such as being intrinsically non-linear and unsteady. Therefore, a controller is required for maintaining
stability of the system Present study tries to compare the obtained results from designing fuzzy intelligent
controllers in similar conditions and also identify the appropriate controller for holding the inverse
pendulum in vertical position on the cart.
Keywords
Fuzzy systems, Inverse Pendulum, intelligent controllers, non-linear systems.
1. INTRODUCTION
By introducing fuzzy sets and the concept of membership degree Dr. Lotfali Asgar Zadeh
founded fuzzy logic in 1965. The concept of fuzzy logic can be used for two different meanings.
Considering its limited meaning, fuzzy logic is a logic system aimed at stimulating the
approximate reasoning and within this domain it is considered as an extension of multiple values
logic and real numbers within [0, 1] are verity values of this logic. In terms of wide meaning it
equals to the theory of fuzzy sets [2, 3].
The fuzzy sets theory can be defined as a proposition for acting in uncertain circumstances. This
theory is able to give a mathematical configuration for unclear concepts, variables and systems
and also can allow reasoning, inference, control and deciding in uncertain conditions.
Fuzzy systems are dependent on knowledge or principles. The core of fuzzy system is a data base
which is composed of ((if-then)) principles. A fuzzy ((if-then)) principle is an if-then expression
some words of which are determined by dependency functions. The engine of fuzzy inference
combines these principles into a registration of fuzzy sets in input space to fuzzy sets in output
space. Fuzzy logic is used for designing expert systems which simulate real world [5].
In this study we will examine the outcomes from designing intelligent controllers of Takagi-
sugeno and Mamdani type in similar conditions. Then, on the basis of these results and comparing
them, we will identify the most appropriate controller which can hold the pendulum in vertical
2. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
2
position on cart with more sensitivity and accuracy. These results are consequences of system
response to sinusoidal and square inputs.
2. Inverse Pendulum System
Inverse pendulum system is considered as a controlled system as depicted below [6]:
Figure 1. Inverse pendulum system and controlling input
As can be seen in the above figure, F represents controlling input, l is half the length of inverse
pendulum, and θ indicates the angle at which the inverse pendulum deviates from perpendicular
position. Inverse pendulum system dynamics can be presented as follow:
( )
+
−
+
+
−
=
Mm
m
l
Mm
mlF
g
θ
θθθ
θ
θ 2
2
cos
3
4
sincos
sin
&
&&
(1)
( )
Mm
mlF
x
+
−+
=
θθθθ cossin2 &&&
&&
where, g is the constant of gravity which equals 10 2
s
m is pendulum mass, and M is cart mass,
and the parameters of the model are considered as: m
l 1= ,
kg
m 1.0= ,
kg
M 1=
It should be noted that in designing fuzzy intelligent controllers (sections 3 and 4) inverse
pendulum system is controlled by four variables of state, namely horizontal distance x , horizontal
velocity x& , deviation angleθ , and angular velocity of deviationθ&. These variables are in the
range of the following limits:
(2)
and besides, the initial conditions are assumed to be zero [7].
(3)
66
33
11
3.03.0
p&p
pp
p&p
pp
x
x
−
−
−
−
θ
θ
[ ]00000 =x
3. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
3
3. Designing a fuzzy logic controller of Takagi-sugeno type
The fuzzy controllers are designed by using the graphical interface of fuzzy logic toolbox. The
fuzzy deduction system (FIS) diagram block of Takagi-sugeno type is illustrated as follows:
Figure 2. Inverse pendulum system controller
Four dependency functions have been defined for each input; hence 16 deduction rules will be
required:
Figure 3. Dependency functions of Inputs
4. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
4
Figure 4. Principles of fuzzy inference
In figure 4, the number of blocks is equal to number of rolls and input and output lines to and
from these blocks are fuzzy rules and relations. The input and output variables are depicted on the
left and right side of the figure respectively.
Inputs dependency functions are defined as Gauss type which are depicted in figure 3 and a linear
composition of inputs is applied on output [8, 9, and 10].
4. Designing a fuzzy logic controller of Mamdani type
The following figures show the fuzzy deduction system (FIS) diagram block of Mamdani type:
Figure 5. Pole position controller
5. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
5
Figure 6. Cart position controller
Two inputs for each controller and totally twelve dependency functions for these two inputs have
been defined, hence 35 deduction rules will be required [8, 9 and10].
Figure 7. Principles of fuzzy inference
Figure 8. Dependency functions of input and output
6. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
6
The dependency functions of input and output are defined as triangular type which can be seen in
the figure below. These functions are expressed in verbal terms as (NVVB), (NVB), (NB), (N),
(Z), (P), (PB), (PVB), and (PVVB). The scope of inputs for both controllers (Tkagi-sugeno and
Mamdani) has obtained on the basis of trial and error approach. The utilized fuzzy rules in both
controllers have also obtained based on the type of reaction shown by the inverted pendulum and
also through experiments and repetitive examinations [4].
5. Evaluating the output results of the intelligent controllers in
simulation (system response to square input)
If the applied force is of square type, the fuzzy intelligent controllers output will track the input in
a shape similar to the curves below. Simulation time has been assumed to be ten seconds for both
controllers. Figures 9, 10, 11, 12, 13 are related to Takagi-sunego type controller and figures 14,
15, 16, 17, 18 are presentations of Mamdani type controller.
In the following illustration, the highest level of deviation from system input state on positive
area and at the moment of 9.8146 seconds equals to 1.125 Newton.
Figure 9. Response to sinusoidal input
In the following illustration, the highest deviation of pendulum position from balanced state (zero
point) on negative area and at the moment of 6.7865 seconds equals to 0.063 Radians.
Figure 10. Pendulum angle
In the following illustration, the highest deviation of pendulum velocity from balanced state (zero
point) on positive area and at the moment of 3.3 seconds equals to 0.1882 Radians per second.
7. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
7
Figure 11. Pendulum angle derived
In the following illustration, the highest deviation of cart position from balanced state (zero point)
on negative area and at the moment of 9.6911 seconds equals to 0.3651 meters.
Figure 12. Displacement
In the following illustration, the highest deviation of cart velocity from balanced state (zero point)
on negative area and at the moment of 7.4928 seconds equals to 0.4804 meters per second.
Figure 13. Derivative of displacement
In the following illustration, the highest level of deviation from system input state on negative
area and at the moment of 7.2671 seconds equals to 0.9321 Newton.
8. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
8
Figure 14. Response to square input
In the following illustration, the highest deviation of pendulum position from balanced state (zero
point) on negative area and at the moment of 6.7014 seconds equals to 0.0391 Radians.
Figure 15. Pendulum angle
In the following illustration, the highest deviation of pendulum velocity from balanced state (zero
point) on negative area and at the moment of 7.4 seconds equals to 0.1136 Radians per second.
Figure 16. Pendulum angle derived
In the following illustration, the highest deviation of cart position from balanced state (zero point)
on negative area and at the moment of 9 seconds equals to 0.2711 meters.
9. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
9
Figure 17. Displacement
In the following illustration, the highest deviation of cart velocity from balanced state (zero point)
on negative area and at the moment of 7.3619 seconds equals to 0.3936 meters per second.
Figure 18. Derivative of displacement
6. Evaluating the output results of the intelligent controllers in
simulation (system response to sinusoidal input)
If the applied force is of sinusoidal type, the fuzzy intelligent controllers output will track the
input in a shape similar to the curves below. Simulation time has been assumed to be ten seconds
for both controllers. Figures 19, 20, 21, 22, 23 are related to Takagi-sunego type controller and
figures 24, 25, 26, 27, 28 are presentations of Mamdani type controller.
In the following illustration, the highest level of deviation from system input state on positive
area and at the moment of 1.3858 seconds equals to 0.1537 Newton.
Figure 19. Response to sinusoidal input
10. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
10
In the following illustration, the highest deviation of pendulum position from balanced state (zero
point) is on two areas, one on positive area and at the moment of 6.1844 seconds and the other on
negative area and at the moment of 9.3489 which equals to 0.0283 Radians.
Figure 20. Pendulum angle
In the following illustration, the highest deviation of pendulum velocity from balanced state (zero
point) on negative area and at the moment of 1.9 seconds equals to 0.0325 Radians per second.
Figure 21. Pendulum angle derived
In the following illustration, the highest deviation of cart position from balanced state (zero point)
on negative area and at the moment of 6.1844 seconds equals to 0.2968 meters.
Figure 22. Displacement
In the following illustration, the highest deviation of cart velocity from balanced state (zero point)
on positive area and at the moment of 7.7044 seconds equals to 0.2976 meters per second.
11. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
11
Figure 23. Derivative of displacement
In the following illustration, the highest level of deviation from system input state on positive
area and at the moment of 1.4799 seconds equals to 0.0585 Newton.
Figure 24. Response to sinusoidal input
In the following illustration, the highest deviation of pendulum position from balanced state (zero
point) on negative area and at the moment of 9.2717 seconds equals to 0.0237 Radians.
Figure 25. Pendulum angle
In the following illustration, the highest deviation of pendulum velocity from balanced state (zero
point) on negative area and at the moment of 7.6 seconds equals to 0.0346 Radians per second.
12. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
12
Figure 26. Pendulum angle derived
In the following illustration, the highest deviation of cart position from balanced state (zero point)
on positive area and at the moment of 9.2 seconds equals to 0.2375 meters.
Figure 27. Displacement
In the following illustration, the highest deviation of cart velocity from balanced state (zero point)
on positive area and at the moment of 7.6361 seconds equals to 0.2414 meters per second.
Figure 28. Derivative of displacement
7. CONCLUSIONS
A wide range of applications dealing with controlling complicated and non-linear systems have
focused on fuzzy control systems in recent years. Although Takagi-sugeno type fuzzy control
systems are effective in controlling non-linear systems, unlike Mamdani type fuzzy control
systems all of the system equations are required to be completely known for designing Tkagi-
sugeno controllers [1].
Considering the results mentioned in section 5 which are related to system response to square
input, it can be easily realized that system over shoot in takagi-sugeno type controller (1.125) is
13. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
13
more –with a difference about 0.193– than that of Mamdani type (0.932). Thus assuming equal
experimental conditions, the most appropriate controller for square input would be Mamdani
type. Also considering the results mentioned in section 6 which are related to system response to
sinusoidal input, it can be easily realized that system over shoot in takagi-sugeno type controller
(0.1537) is more -with a difference about 0.0952- than that of Mamdani type (0.0585). Thus
assuming equal experimental conditions, the most appropriate controller for sinusoidal input
would be Mamdani type.
In both sections (5, 6) considering to figures which get from results, displacement and velocity of
the cart with deviation and angular velocity of the pendulum Mamdani type controller is less than
that of takagi-sugeno type.
Finally, we can draw this conclusion from sections 5 and 6 that Mamdani type fuzzy smart
controller possessing lower over shoot and higher accuracy and sensitivity can effectively hold
the reverse pendulum in upright position on the cart. Therefore, providing similar experimental
conditions, the suitable controller for reverse pendulum system will be Mamdani type fuzzy smart
controller.
REFERENCES
[1] Tanaka, K. & H. Wang, (2001) Fuzzy Control Systems Design and Analysis, John Wiley & Sons Inc.
[2] Tanaka, K. & M. Sugeno, (1992) “Stability Analysis and Design of Fuzzy Control Systems”, Fuzzy
sets and systems, vol. 45, pp 135-156.
[3] Ren, G. & Z. Hung-Xiu, (2005) “Analytical Design of Takagi-Sugeno Fuzzy Control Systems”,
American Control Conference, pp 1733-1738.
[4] Akar M. & U. Ozgunr, (1992) “Decentralized Parallel Distributed Compensator Design for Takagi-
Sugeno Fuzzy Systems”, Proceeding of 38th
Conference on Decision & Control, pp 4834-4839.
[5] Shieh, M. Y. & C. W. Huang, T.H. Li, “A GA-based Sugeno-Type Logic Controller for Cart-Pole
System”, IEEE, pp 1028-1032.
[6] Ogata, K, (2002) “Modern Control Engineering.Prentice Hall”, pp 86-90.
[7] Marry, M, (2000) Application of Matlab and Simulink in Engineering. Third edition. pp 100-130.
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Authors
Qasem Abdollah Nezhad was born in 1984, He received bachelor of Science in Mechanical Engineering
from the Department of Mechanical Engineering, Islamic Azad University, Tabriz branch, Iran, in 2011,
and Master of science Mechatronics Engineering from the Department of Mechatronics Engineering,
Science and Research Islamic Azad University, Kurdistan branch, Iran, in 2013.Currently he is a lecturer,
He is the author of several papers in National Conference, His research interests includes robotics,
mechatronics, image processing, control systems, fuzzy control application.
Javad Palizvan Zand was born in 1986, He received bachelor of science in Civil Engineering from the
Department of Civil Engineering, Islamic Azad University, Tabriz branch, Iran, in 2009, and Master of
science Structural Engineering from the Department of Civil Engineering, Tabriz University, Iran, in 2012,
He is a member of the Young Researchers and Elite Club, Tabriz Branch, Islamic Azad University,
Currently he is a lecturer, He is the author of several papers in National Conference.
14. International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No3, July 2013
14
Samira Shah Hoseini was born in 1982, She received bachelor of Science in Electrical and
Communication Engineering from the Department of Tabriz University, Iran, in 2007, and Master of
science Mechatronics Engineering from the Department of Mechatronics Engineering, Science and
Research Islamic Azad University, Kurdistan branch, Iran, in 2013.Currently she is a lecturer, She is the
author of several papers in National Conference, Her research interests includes robotics, mechatronics,
image processing, control systems, fuzzy control application.