An adaptive fuzzy PID controller with gain scheduling is proposed in this paper. The structure of the proposed gain scheduled fuzzy PID (GS_FPID) controller consists of both fuzzy PI-like controller and fuzzy PD-like controller. Both of fuzzy PI-like and PD-like controllers are weighted through adaptive gain scheduling, which are also determined by fuzzy logic inference. A modified genetic algo...

The objective of this study is to design a robust direct model reference adaptive controller (DMRAC) for a nonlinear cardiovascular model over a range of plant parameters representing a variety of physical conditions. The direct adaptive controllers used in thisd study require the plant to be almost strictly positive real (ASPR) that is, for a plant to be controlled there must exist a feedback ...

In this paper, a novel method based on a combination of Extended Kalman Filter (EKF) with Self-adaptive Differential Evolution (SaDE) algorithm to estimate rotor position, speed and machine states for a Permanent Magnet Synchronous Motor (PMSM) is proposed. In the proposed method, as a first step SaDE algorithm is used to tune the noise covariance matrices of state noise and measurement noise i...

Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To...

This paper presents two methods for designing special purpose controllers for permanent magnet synchronous motor. The main target of the designed controllers is to reduce torque ripples of this type of motors. The first proposed adaptive method is based on two loop controllers (current controller and speed controller) in addition to using space vector pulse width modulation to maximize fundamen...

the proposed iafc neural networks have both stability and plasticity because theyuse a control structure similar to that of the art-1(adaptive resonance theory) neural network.the unsupervised iafc neural network is the unsupervised neural network which uses the fuzzyleaky learning rule. this fuzzy leaky learning rule controls the updating amounts by fuzzymembership values. the supervised iafc ...

In this paper, the enhancement of vehicle stability and handling is investigated by control of the active geometry suspension system (AGS). This system could be changed through control of suspension mounting point’s position in the perpendicular direction to wishbone therefore the dynamic is alternative and characteristics need to change. For this purpose, suitable controller needs to change...

An adaptive controller based upon the on-line minimization of a performance criteria is described. The adaptive controller is used to improve the performance of a one-legged mobile robot, removing prob lems experienced with previous controllers. The performance of several minimization algorithms is analyzed and, as a result, the Adaptive Step Size Random Search algorithm is selected. Finally, a...

The certainty equivalence and polynomial approach, widely used for designing adaptive controllers, leads to “simple” adaptive control designs that guarantee stability, asymptotic error convergence, and robustness, but not necessarily good transient performance. Backstepping and tuning functions techniques, on the other hand, are used to design adaptive controllers that guarantee stability and g...

|This paper addresses the problem of achieving exact dynamic hybrid force/position control with multidimensional manipulators possessing the low level position controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive hybrid force/position control algorithm for position controlled robot arms in contact with surf...