H.3. Artificial Intelligence
M. Vahedi; M. Hadad Zarif; A. Akbarzadeh Kalat
Abstract
This paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. The uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. The contribution ...
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This paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. The uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. The contribution of this paper is presenting a stability analysis for neuro-fuzzy speed control of induction motors. The online training of the neuro-fuzzy systems is based on the Lyapunov stability analysis and the reconstruction errors of the neuro-fuzzy systems are compensated in order to guarantee the asymptotic convergence of the speed tracking error. Moreover, to improve the control system performance and reduce the chattering, a PI structure is used to produce the input of the neuro-fuzzy systems. Finally, simulation results verify high performance characteristics and robustness of the proposed control system against plant parameter variation, external load and input voltage disturbance.
H.3. Artificial Intelligence
H. Motameni
Abstract
This paper proposes a method to solve multi-objective problems using improved Particle Swarm Optimization. We propose leader particles which guide other particles inside the problem domain. Two techniques are suggested for selection and deletion of such particles to improve the optimal solutions. The ...
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This paper proposes a method to solve multi-objective problems using improved Particle Swarm Optimization. We propose leader particles which guide other particles inside the problem domain. Two techniques are suggested for selection and deletion of such particles to improve the optimal solutions. The first one is based on the mean of the m optimal particles and the second one is based on appointing a leader particle for any n founded particles. We used an intensity criterion to delete the particles in both techniques. The proposed techniques were evaluated based on three standard tests in multi-objective evolutionary optimization problems. The evaluation criterion in this paper is the number of particles in the optimal-Pareto set, error, and uniformity. The results show that the proposed method searches more number of optimal particles with higher intensity and less error in comparison with basic MOPSO and SIGMA and CMPSO and NSGA-II and microGA and PAES and can be used as proper techniques to solve multi-objective optimization problems.
H.3. Artificial Intelligence
Y. Vaghei; A. Farshidianfar
Abstract
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated ...
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In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especially for long-term operations. In this paper, a new design approach of an adaptive fuzzy hierarchical terminal sliding-mode controller (AFHTSMC) is proposed. The sliding surfaces of the subsystems construct the hierarchical structure of the proposed method; in which the top layer includes all of the subsystems’ sliding surfaces. Moreover, terminal sliding mode has been implemented in each layer to ensure the error convergence to zero in finite time besides chattering reduction. In addition, online fuzzy models are employed to approximate the two nonlinear dynamic system’s functions. Finally, a simulation example of an inverted pendulum is proposed to confirm the effectiveness and robustness of the proposed controller.
