Equivalent linearization of 2-way fuzzy adaptive system under nonparametric uncertainty and inconsistency

Date

2002-09-18

Author

Gurkan, E
Banks, SP
Erkmen, Aydan Müşerref
Erkmen, İsmet

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

83
views

0
downloads

Our aim in this paper is to design a 2-way fuzzy adaptive controller for a flexible robot arm and to analyze the stability of this controller using describing function technique. The 2-way fuzzy adaptive system is used in order to model the nonparametric uncertainties and inconsistencies present in the nonlinear system. The use of intuitionistic fuzzy sets in the 2-way fuzzy adaptive structure makes it possible to model such uncertainties. The proposed architecture is used as a controller for a flexible-joint robot arm. In designing such a controller, we have used approximating sequences method to obtain the parameters of the 2-way fuzzy adaptive controller. The stability of the 2-way fuzzy adaptive controller is analyzed using the describing function technique. The describing functions for the 2-way fuzzy adaptive system are evaluated for the two boundaries of the uncertainty interval, which is modeled as the uncertainty width with the necessity (membership functions) at the lower bound and the possibility (1-nonmembership functions) at the upper bound. The segment lemma is used for the analysis of stability for this interval-valued describing function.

Subject Keywords

Manipulators, Controller, Robots

URI

https://hdl.handle.net/11511/47485

DOI

https://doi.org/10.1142/9789812777102_0055

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Stability Analysis of AC-DC Unity Power Factor PWM Boost Rectifier with Hysteresis Current Controller Vardar, K.; AKPINAR, EYUP (2011-09-10) In this paper, the hysteresis current controller is modeled with PWM rectifier for stability analysis and design of dc link PI controller. The results of linear model are compared with the detailed simulation results during starting period of the rectifier. The stable operating ranges of system parameters like hysteresis band width, boost inductance, dc link capacitor and sampling frequency are verified by the detailed dedicated simulation program in Matlab/Simulink interlinked to TMS320F2812. The results h...
Intelligent gait control of a multilegged robot used in rescue operations Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003) In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Application of spatial h ∞ control technique for active vibration control of a smart beam Ömer Faruk, Kırcalı; Yaman, Yavuz; Volkan, Nalbantoğlu; Şahin, Melin; Fatih Mutlu, Karadal (null; 2007-06-04) This study presents the design and implementation of a spatial H∞ controller for the active vibration control of a cantilevered smart beam. The smart beam consists of a passive aluminum beam (507x51x2mm) and eight symmetrically surface bonded SensorTech BM500 type PZT (Lead-Zirconate-Titanate) patches (25x20x0.5mm). PZT patches are used as actuators and a laser displacement sensor is used as sensor. The smart beam was analytically modelled by using the assumed-modes method. The model only included the first...
Application of spatial H-infinity control technique for active vibration control of a smart beam Kircali, Oemer Faruk; Yaman, Yavuz; Nalbantoglu, Volkan; Şahin, Melin; Karadal, Fatih Mutlu (2007-05-12) This study presents the design and implementation of a spatial H-infinity controller for the active vibration control of a cantilevered smart beam. The smart beam consists of a passive aluminum beam (507x51x2mm) and eight symmetrically surface bonded SensorTech BM500 type PZT (Lead-Zirconate-Titanate) patches (25x20x0.5mm). PZT patches are used as actuators and a laser displacement sensor is used as sensor. The smart beam was analytically modelled by using the assumed-modes method. The model only included t...
Momentum transfer continuum between preshape and grasping based on fluidics Özyer, Barış; Erkmen, İsmet; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2012) This dissertation propose a new fluidics based framework to determine a continuum between preshaping and grasping so as to appropriately preshape a multi-fingered robot hand for creating an optimal initialization of grasp. The continuum of a hand preshape closing upon an object that creates an initial object motion tendency of the object based on the impact moment patterns generated from the fingers is presented. These motion tendencies should then be suitable for the proper initiation of the grasping task....

Citation Formats

E. Gurkan, S. Banks, A. M. Erkmen, and İ. Erkmen, “Equivalent linearization of 2-way fuzzy adaptive system under nonparametric uncertainty and inconsistency,” 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/47485.