A robust neuro-fuzzy controller with tuning mechanism of membership functions and neural weights to achieve the tracking control of composite multivariable systems is proposed. The control strategy is developed to facilitate robust property by self-tuning the consequent membership functions of the fuzzy controllers. By an on-line tuning mechanism, the fuzzy system can e5ectively deal with the e...

This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov-based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, des...

This paper presents an innovative approach to self-adaptation of the structure of a neuro-fuzzy controller in real time. Without any off-line pretraining, the algorithm achieves very high control performance through the iteration of a three-stage algorithm. In the first stage, coarse tuning of the neuro-fuzzy rules (both rule consequents and membership functions of the premises) is accomplished...

In the paper, a new multivariable self-tuning PID controller design scheme is proposed which has a static matrix precompensator to reduce the interaction terms of the process transfer function matrix adjusted by an online estimator. The p £ p precompensated multivariate system is then controlled via ‘p’ univariate self-tuning PID controllers whose parameters are adjusted by a second identifier ...

In this study, we present an adaptive self-tuning controller (STC) design for small embedded systems. The new free tool-chain for model based control design is based, among other software, on the open simulator Scilab-XCos. After a very short introduction of model based design terms, this article focuses on the code generator and the other programs of the tool-chain. The design concept is demon...

This project is based on the self-tuning fuzzy logic controller, for the design of a temperature control process , the performance of the system should be reliable. The proposed control system combines the advantages of Self Tuning and Fuzzy Logic Control schemes. In order to evaluate the performance of the proposed control system methods, results from simulation of the process are presented. T...

Self-tuning control with recursive identification of extremal dynamic systems is considered. The systems can be represented by combinations of linear dynamic and extremal static parts, their output being disturbed by a coloured noise. Minimumvariance controllers for Hammerstein, Wiener, and Wiener-Hammerstein-type systems are designed taking into consideration restrictions for control signal ma...

A self-tuning procedure is proposed for an active structural element with collocated sensing and actuation (a so-called ‘Smart Disc’). The procedure aims at optimal active damping by means of Integral Force Feedback control. In case the behavior of the structure to be damped may be described by a single dominant vibration mode, self-tuning is realized in two fairly simple steps: (1) recursive e...

Self-* systems are self-organizing, self-configuring, self-healing, self-tuning and, in general, selfmanaging. Ursa Minor is a large-scale storage infrastructure being designed and deployed at Carnegie Mellon University, with the goal of taking steps towards the self-* ideal. This paper discusses our early experiences with one specific aspect of storage management: performance tuning and projec...

The use of complex self tuning Proportional, Integral and Derivative (PID) controller, to drive the speed and direction in mini robot, is limited by calculus power and by the precision and noise of the on board input sensors, particularly severe problems arise in computing the derivative term. In this work a PID whose terms are computed from filtered input with a simple recursive Exponentially ...