This paper addresses the problem of trajectory tracking control in an autonomous, wheeled, mobile robot of unicycle type using Fuzzy Logic. The Fuzzy Logic Control (FLC) is based on a backstepping approach to ensure asymptotic stabilization of the robot’s position and orientation around the desired trajectory, taking into account the kinematics and dynamics of the vehicle. We use the Mamdani in...

This study developed a hybrid self-organizing fuzzy and radial basis-function neural-network controller (HSFRBNC) for active suspension systems. The HSFRBNC uses a radial basis function neural-network to adjust the learning rate and the weighting distribution of a self-organizing fuzzy controller (SOFC) in real time, as an alternative to obtain these parameters through trial and error. Therefor...

In this paper, a fuzzy logic controller is proposed for an application of HVDC link to stabilize the frequency oscillation in a parallel AC – DC interconnected power systems. When an interconnected AC power system is subjected to a load disturbance, system frequency may be considerably disturbed and becomes oscillatory. By utilizing the system interconnections as the control channels of HVDC li...

This paper shows a strategy suitable for navigating autonomous robots in a completely unknown environment. The method proposed combines optimum path planning techniques with fuzzy logic to avoid obstacles and to determine the shortest path towards its goal. The technique computes the potential surface using Dijkstra’s algorithm in a moving window, updating the cost map as it moves with the info...

Using computer simulation, the theoretical feasibility of functional electrical stimulation (FES) assisted standing up is demonstrated using a closed-loop self-adaptive fuzzy logic controller based on reinforcement machine learning (FLC-RL). The control goal was to minimize upper limb forces and the terminal velocity of the knee joint. The reinforcement learning (RL) technique was extended to m...

This paper examines the size reduction of the fuzzy rule base without compromising the control characteristics of a fuzzy logic controller (FLC). A 49-rule FLC is approximated by a 4-rule simplest FLC using compensating factors. This approximated 4-rule FLC is implemented to control the shunt active power filter (APF), which is used for harmonic mitigation in source current. The proposed contro...

In this paper, we present a new fuzzy logic controller (FLC) for discrete-time systems. All the decision rules of FLC are automatically generated by the Lyapunov stability criterion. The proposed control scheme can be easily derived with minimum information of the controlled plant. Furthermore, the fuzzy inference scheme can successfully be applied to stabilize the nonlinear discrete-time syste...

This study presents the real time hybrid controller implementation for a Switched Reluctance motor Drive. The developed hybrid control law consists of Proportional Integral (PI) controller at steady state, PI-type fuzzy logic controller (FLC) at transient state and a simple logic controller between steady and transient states to achieve desired performance at various operating conditions under ...

This paper explores a fuzzy-logic based speed controller of an interior permanent magnet synchronous motor (IPMSM) drive on vector control. PI controllers were mostly used in control loop field oriented IPMSM. The fundamentals fuzzy logic algorithms as related to applications are illustrated. A complete comparison between two tuning the classical and is explained. simplified (FLC) for IPMSM has...