In this paper, an improved ant colony optimization (ACO) algorithm is proposed to enhance the performance of global optimum search. The strategy of the proposed algorithm has the capability of fuzzy pheromone updating, adaptive parameter tuning, and mechanism resetting. The proposed method is utilized to tune the parameters of the fuzzy controller for a real beam and ball system. Simulation and...

This paper proposes a novel adaptive control law for nonlinear systems using Takagi-Sugeno fuzzy system. Takagi-Sugeno fuzzy system is used to identify nonlinear system components theta alpha and theta beta. Stable Indirect Adaptive control law is such that it has two control components one is certainty equivalence control and other is sliding mode control. Sliding mode controller is used to en...

This study explores the effects of haptic feedback on performance and learning by human subjects executing a dynamic task. We present the results of experiments involving the control of a ball and beam. Human subjects perform position targeting of the ball through hand operation of the beam angle. In our dynamic analysis we discuss how this prototype task may be used to test the efficacy of var...

Takagi-Sugeno (TS) fuzzy modeling and control techniques are applied to the classical nonlinear Ball and Beam problem. The nonlinear model is segmented to different local linear models. Local controllers are hence designed using LMI theory for achieving a robust control behavior for ball position. TS fuzzy modeling is applied to generate suitable fuzzy models, and the associated controllers. Us...

We demonstrate a fabrication procedure for the direct integration of micro-ball lenses on planar integrated optical channel waveguide chips with the aim to reduce the divergence of light that arises from the waveguide in both horizontal and vertical directions. Fabrication of the lenses is based on photoresist reflow which is a procedure that allows for the use of photolithography for careful a...

Ball screw drives are widely used as the motion delivery mechanism due to their high stiffness and high accuracy. As the speed and precision requirements from machine tools increase, the effects of the structural flexibility of the drives on controller performance are becoming increasingly significant. The vibrations adversely affect the positioning accuracy and performance of the drive. The na...

A recent approach to the control of underactuated systems is to look for control laws which will induce some speci3ed structure on the closed loop system. In this paper, we describe one matching condition and an approach for 3nding all control laws that 3t the condition. After an analysis of the resulting control laws for linear systems, we present the results from an experiment on a nonlinear ...