This paper presents a heuristic fuzzy position estimation technique for autonomous underwater vehicle navigation. The heuristic estimator performs asynchronous data fusion of all sensor measurements based on their relative con dence levels, and then nonlinearly combines the fused information with the INS estimates via fuzzy ltering techniques. In this paper, the basis and implementation of the ...

The unavoidable imprecision of measurements of continuous physical quantities can be modelled by using the concept of fuzzy numbers and fuzzy vectors. Concerning a quantitative usage of such data the classical concept of relative frequencies for real data has to be extended to so-called fuzzy relative frequencies for fuzzy data, whereby the fuzzy relative frequency of a set is a fuzzy number. A...

Abstract Mutual Information (MI) is an important dependency measure between random variables, due to its tight connection with information theory. It has numerous applications, both in theory and practice. However, when employed in practice, it is often necessary to estimate the MI from available data. There are several methods to approximate the MI, but arguably one of the simplest and most wi...

This paper addresses the design of a fuzzy control system with a fuzzy controller and a fuzzy estimator for a fossil fuelled drum boiler-turbine-generator unit on the basis of a dynamic fuzzy model that was developed in our recently published paper. In the design procedure, a dynamics augmentation is introduced and a dynamic fuzzy augmented system is then determined for the nonlinear boiler-tur...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

In this work a motion control scheme, which belongs to the class of the control schemes known as a sliding mode control with disturbance estimation is proposed. Adaptive fuzzy disturbance estimator works as an identifier of variable part of a system dynamics. Adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors. For ...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

This paper presents a simple method for estimating rotor resistance in an indirect vector-controlled induction motor drive. This is important in vector control, if high-performance torque control is needed. For this purpose, a rotor resistance estimator using fuzzy logic technique is used and analysis, design, and digital simulations are carried out to demonstrate the effectiveness of the propo...