a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

An adaptive-resonance theory (ART)-based fuzzy controller is presented for the adaptive navigation of a quadruped robot in cluttered environments, by incorporating the capability of ART in stable category recognition into fuzzy-logic control for selecting the adequate rule base. The environment category and the navigation mechanism are first described for the quadruped robot. The ART-based fuzz...

This paper presents a heuristic fuzzy position estimation technique for autonomous underwater vehicle navigation. The heuristic estimator performs asynchronous data fusion of all sensor measurements based on their relative con dence levels, and then nonlinearly combines the fused information with the INS estimates via fuzzy ltering techniques. In this paper, the basis and implementation of the ...

According to the character of the volume-lag of the controlled process of three-tank-system, Smith predictor was adopted to compensate three-tank-system fuzzy adaptive control system. Fuzzy adaptive Smith predictive control system is composed with Smith predictor and fuzzy adaptive controller. The PID parameters were setting on line. This algorithm uses fuzzy adaptive PID control to improve the...

some applications are critical and must designed fault tolerant system. usually voting algorithm is one of the principle elements of a fault tolerant system. two kinds of voting algorithm are used in most applications, they are majority voting algorithm and weighted average algorithm these algorithms have some problems. majority confronts with the problem of threshold limits and voter of weight...

We prove convergence and quasi-optimality of a lowest-order adaptive boundary element method for a weakly-singular integral equation in 2D. The adaptive meshrefinement is driven by the weighted-residual error estimator. By proving that this estimator is not only reliable, but under some regularity assumptions on the given data also efficient on locally refined meshes, we characterize the approx...

ABSTRACT: In this study, adaptive neuro-fuzzy inference system, and feed forward neural network as two artificial intelligence-based models along with conventional multiple linear regression model were used to predict the multi-station modelling of dissolve oxygen concentration at the downstream of Mathura City in India. The data used are dissolved oxygen, pH, biological oxygen demand and water...

However, feedback linearization control does not guarantee robustness in the presence of modeling errors. In [3], ∞ H control and sliding mode control was proposed. ∞ H control is a computation expensive method that presents good disturbance attenuation performance. In [4], sliding mode control and PID controller was discussed. In [5], the PID controller was discussed. The PID controller is a s...

The unavoidable imprecision of measurements of continuous physical quantities can be modelled by using the concept of fuzzy numbers and fuzzy vectors. Concerning a quantitative usage of such data the classical concept of relative frequencies for real data has to be extended to so-called fuzzy relative frequencies for fuzzy data, whereby the fuzzy relative frequency of a set is a fuzzy number. A...

Awareness of the level of river flow and its fluctuations at different times is one of the significant factor to achieve sustainable development for water resource issues. Therefore, the present study two hybrid models, Wavelet- Adaptive Neural Fuzzy Interference System (WANFIS) and Wavelet- Artificial Neural Network (WANN) are used for flow prediction of Gamasyab River (Nahavand, Hamedan, Iran...