this paper presents a novel neural network controller with composite adaptation low to improve the trajectory tracking problems of biped robots comparing with classical controller. The biped model has 5_link and 6 degrees of freedom and actuated by Plated Pneumatic Artificial Muscle, which have a very high power to weight ratio and it has large stoke compared to similar actuators. The proposed ...

In this paper, a simple and effective scheme for tuning of fuzzy PI-PD controller based on fuzzy logic is proposed. Here the input scaling factors are tuned online by gain updating factors where values are determined by rule base with error and change in error as inputs according to the required controlled process. The performance comparison of conventional fuzzy logic controller, auto-tuned fu...

The network and plant can be regarded as a controlled time-varying system because of the random induced delay in the networked control systems. The cerebellar model articulation controller CMAC neural network and a PD controller are combined to achieve the forward feedback control. The PD controller parameters are adjusted adaptively by fuzzy reasoning mechanism, which can optimize the control ...

This paper investigates two fuzzy logic PID controllers that use simplified design schemes. Fuzzy logic PD and PI controllers are effective for many control problems but lack the advantages of the fuzzy PID controller. Design methodologies are in their infancy and still somewhat intuitive. Fuzzy controllers use a rule base to describe relationships between the input variables. Implementation of...

Many practical problems in magnetic bearing control concern essentially the minimization of the compliance of the rotor at a particular point, often not a bearing or sensor location. Experimental results are presented which demonstrate that controller design problems of this type can be tackled via μ-synthesis. The problem of minimizing the peak compliance at the midspan of a rotor test rig is ...

This paper presents a robust proportionalderivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and e...

Referring to the point-to-point control problem, this work presents a PD control algorithm that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of...

In this paper, analytical structures of TITO (two-input two-output) Mamdani fuzzy PI/PD controllers are investigated with respect to conventional PI/PD control and variable gain control. Components of the fuzzy controllers include two input fuzzy sets for each input variable, five singleton output fuzzy sets for each output variable, 16 fuzzy rules, product AND fuzzy logic operator, the Mamdani...

In this paper, a simple and effective stabilization method for integrating time delay systems using fractional order PD controllers μ s k k s C d p + = ) ( is proposed. The presented method is based on finding the stability regions according to the fractional orders of the derivative element in the range of (0, 2). These regions are computed by using three stability boundaries: Real Root Bounda...

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response...