A two-layer fuzzy logic controller has been designed for 2-D autonomous navigation of a skid steering vehicle in an obstacle filled environment. The first layer of the fuzzy controller provides a model for multiple sonar sensor input fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The secon...

In this paper we have designed a DC motor whose speed can be controlled using PID controller. The proportional, integral and derivate (KP, KI, KD) gains of the PID controller are adjusted according to FUZZY LOGIC. First, the fuzzy logic controller is designed according to fuzzy rules so that the systems are fundamentally robust. There are 25 fuzzy rules for self-tuning of each parameter of PID ...

A statistical analysis of Type-1 and Interval Type-2 Fuzzy Logic in dynamic parameter adaptation in the Bee Colony Optimization algorithm (BCO) is presented in this paper. The Bee Colony Optimization meta-heuristic belongs to the class of Nature-Inspired Algorithms. The objective of the work is based on the main reasons for the analysis of the approach with Interval Type-2 Fuzzy Logic to find t...

In this paper, a new way of optimizing fuzzy logic is introduced. This way is used to optimize the output of Interval Type-2 Fuzzy Logic controller by replacing the Defuzzification stage by the Optimization algorithm. The algorithm chooses the best crisp output variable from the type-reduced set which is the output of the Type-Reduction stage instead of averaging the set extremes which was perf...

Combustion control of an industrial stoker-"red boiler is to provide a continuous supply of steam at the desired condition of pressure. Because no e$cient mathematical model of the stoker-"red boiler is available, it would be very hard to design its controller by using any traditional model-based method. Therefore, the most widely used controller for the boiler system is a conventional PID-type...

Fuzzy controllers with variable universe of discourse (VUD) have been applied in many fields of intelligent controlling because of their high-accuracy performance. This paper provides a lookup table method to design backing-up fuzzy controllers based on VUD. By setting a set of random start points, input–output data pairs are obtained using test-driving method. One data pair defines one fuzzy r...

The paper investigates a new kind of controller--the quantized controller, which can give a close to optimum nonlinear control surface. In contrary to the rough control surface generated by the fuzzy controller, the quantized controller can give better and smoother control. The quantized controller is trainable. By using an error function and the gradient decent method, control surface can be f...

This paper proposes the design of a cascade control using fuzzy logic. A new set of fuzzy logic rules are added to a conventional Fuzzy Logic Controller (FLC) to build the Fuzzy Controller with Intermediate Variable (FCIV). The proposed controller is tested in the control of a nonlinear chemical process, and its performance is compared to other controllers.

conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. in comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult....

In this paper performance of Puma 560 manipulator is being compared for hybrid gradient descent and least square method learning based ANFIS controller with hybrid Genetic Algorithm and Generalized Pattern Search tuned radial basis function based Neuro-Fuzzy controller. ANFIS which is based on Takagi Sugeno type Fuzzy controller needs prior knowledge of rule base while in radial basis function ...