The use of a proposed recurrent neural network control system to control a four-legged walking robot is presented in this paper. The control system consists of a neural controller, a standard PD controller, and the walking robot. The robot is a planar four-legged walking robot. The proposed Neural Network (NN) is employed as an inverse controller of the robot. The NN has three layers, which are...

A fuzzy autopilot for track-keeping control of underwater vehicles is considered. Input variables fuzzification, fuzzy rules and output set defuzzification are described. Quality of control of the fuzzy tracking controller under influence of the sea current disturbance was analysed and compared to a traditional PD controller. Some computer simulations are provided to demonstrate the effectivene...

One of the most recent methods for controller tuning and optimization is Iterative Feedback Tuning (IFT). It is capable to optimize parameters of linear digital singleinput, single-output controller of general structure (P, PI, PD, PID, transfer function) in closed loop. A software tool applying the IFT method has been developed in Matlab environment. This tool was validated on several examples...

In this paper, variable gain nonlinear PD and PI fuzzy logic controllers are designed the effect of characteristic these is analyzed to show its contribution in enhancing performance closed loop system over a conventional linear PID controller. Simulation results time domain characteristics how outperform controller when used control plant that has delay.

Abstract: The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum InputOutput Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefo...

In this paper, the main goal is to reduce the heave motion between a surface effect ship (SES) and a wind turbine in order to safely transfer equipment and person to SES. For this purpose, an LQR control system is designed to damp the vertical motion of the surface effect ship in critical sea states including high-frequency and high amplitude regular waves as well as high frequency irregular wa...

The performance of on telescope depend strongly its operating conditions. During pointing the can move at a relatively high velocity, and system tolerate trajectory position errors higher than during tracking. On contrary, tracking Alt-Az telescopes generally slower but still in large dynamic range. In this case, must be as close to zero possible. Tracking is one essential factors that affect q...

This paper considers improving the tip regulation performance of a joint-PD controlled single-link flexible manipulator by introducing nonlinear strain feedback. The controller is developed by applying Lyapunov’s direct method. The stability of the closed-loop system is theoretically proven based on the partial differential equations (PDE’s) which govern the motion of the flexible robot, instea...

Abstract Modular Multilevel Converter (MMC) has found very wide application in renewable energy sources, DC power transmission, high voltage applications and micro grid. However the technical challenge of MMC is to maintain constant current, constant power and constant voltage at the output depending on the requirement. In this paper a control loop is developed for maintaining constant power at...

The conventional speed controllers for vector controlled induction motor drive(VC1MD) suffer from the problem of stability, besides, these controllers show either steady state error (PD controller) or sluggish response (Pi, PID) to the perturbation in reference setting or during load perturbation. This paper presents a fuzzy logic based speed controller and its design for vector controlled indu...