The control of movement rehabilitation robots is necessary for the recovery physically disabled patients and an interesting open problem. This paper presents a mathematical model upper limb robot using Euler-Lagrange approach. Since PID controller one most popular feedback controllers in strategy due to its simplicity, we proposed ACO-PID robot. main part designing determining gains controller....

Under-actuated robot manipulator is a kinematic chain wherein total degree of the freedom of the mechanism is more than actuators. Under actuated manipulators are advantageous from the minimalism viewpoint in robotics where a task is performed with less energy consuming actuations. In fact dynamic of the mechanism is exploited instead of fighting it [1][2]. Moreover, studies on under-actuated c...

This paper analyses the control of nonlinear plant with the changing dynamics. Adaptive controllers, based on fuzzy logics, are synthesized for the control of air pressure and water level. Their satisfactory efficiency is experimentally demonstrated under different working conditions. Fuzzy controllers are compared to conventional PI and PID controllers.

a novel technique is investigated for pid controller adaptation in order to control thetemperature of a liquid-phase reactor tank by using a heat exchanger system. as for nonlinearity,time delay problems and model uncertainties introduced by the heat exchanger, an interval type-2fuzzy system (it2fs) is implemented to enhance and improve the total control performance.moreover, the fuzzy inferenc...

This paper describes the development and tuning methods for a novel self-organizing fuzzy proportional integral derivative (PID) controller. Before applying fuzzy logic, the PID gains are tuned using a conventional tuning method. At supervisory level, fuzzy logic readjusts the PID gains online. In the first tuning method, fuzzy logic at the supervisory level readjusts the three PID gains during...

The generator is an important component of the power system and, as a prerequisite for the normal work of the generator; one of the preconditions of excitation of a system running well will directly affect the operation of the motor characteristics and heavily influence the normal operation of the power system. In the excitation system, the control portion of the excitation system is the key to...

This work is an attempt to illustrate the usage and effectiveness of soft computing techniques in the estimation and control of multi input and multi output systems. This paper focuses on neuro-fuzzy system ANFIS (Adaptive Neuro Fuzzy Inference system). An Adaptive Network based Fuzzy Interference System architecture extended to cope with multivariable systems has been used. The performance of ...

This paper presents the comparison of tracking control performance of fuzzy PI Controller with fuzzy PID and conventional PID controllers. Fuzzy PI controller and Fuzzy PID controller composes of Mamdani type fuzzy controllers and parameters are adjusted to meet the desired control system performances both in transient state and steady state. Computer simulations are done for controlling the ti...

This paper presents the comparison of tracking control performance of fuzzy PI Controller with fuzzy PID and conventional PID controllers. Fuzzy PI controller and Fuzzy PID controller composes of Mamdani type fuzzy controllers and parameters are adjusted to meet the desired control system performances both in transient state and steady state. Computer simulations are done for controlling the ti...