University of Saskatchewan
Department of Computer Science
The minimum rule base Proportional Integral Derivative (PID) Fuzzy backstepping Controller for three dimensions spherical motor is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their... more
The minimum rule base Proportional Integral
Derivative (PID) Fuzzy backstepping Controller for three
dimensions spherical motor is presented in this research. The
popularity of PID Fuzzy backstepping controller can be
attributed to their robust performance in a wide range of
operating conditions and partly to their functional simplicity.
The process of setting of PID Fuzzy backstepping controller can
be determined as an optimization task. Over the years, use of
intelligent strategies for tuning of these controllers has been
growing. PID methodology has three inputs and if any input is
described with seven linguistic values, and any rule has three
conditions we will need 7 × 7 × 7 = 343 rules. It is too much
work to write 343 rules. In this research the PID-like fuzzy
controller can be constructed as a parallel structure of a PI-like
controller and a PD-like fuzzy controller to have the minimum
rule base. However backstepping controller is work based on
cancelling decoupling and nonlinear terms of dynamic
parameters of each dimension, this controller is work based on
spherical motor dynamic model and this technique is highly
sensitive to the knowledge of all parameters of nonlinear three
dimension spherical motor‟s dynamic equation. This research
is used to reduce or eliminate the backstepping controller
problem based on minimum rule base fuzzy logic theory to
control of spherical motor system and testing of the quality of
process control in the simulation environment of
MATLAB/SIMULINK Simulator
Derivative (PID) Fuzzy backstepping Controller for three
dimensions spherical motor is presented in this research. The
popularity of PID Fuzzy backstepping controller can be
attributed to their robust performance in a wide range of
operating conditions and partly to their functional simplicity.
The process of setting of PID Fuzzy backstepping controller can
be determined as an optimization task. Over the years, use of
intelligent strategies for tuning of these controllers has been
growing. PID methodology has three inputs and if any input is
described with seven linguistic values, and any rule has three
conditions we will need 7 × 7 × 7 = 343 rules. It is too much
work to write 343 rules. In this research the PID-like fuzzy
controller can be constructed as a parallel structure of a PI-like
controller and a PD-like fuzzy controller to have the minimum
rule base. However backstepping controller is work based on
cancelling decoupling and nonlinear terms of dynamic
parameters of each dimension, this controller is work based on
spherical motor dynamic model and this technique is highly
sensitive to the knowledge of all parameters of nonlinear three
dimension spherical motor‟s dynamic equation. This research
is used to reduce or eliminate the backstepping controller
problem based on minimum rule base fuzzy logic theory to
control of spherical motor system and testing of the quality of
process control in the simulation environment of
MATLAB/SIMULINK Simulator
This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to reduce/eliminate motor vibration. The fuzzy (PI+D)2 single-input single-output (SISO) fuzzy system is applied to modify each element of the control in a... more
This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to
reduce/eliminate motor vibration. The fuzzy (PI+D)2 single-input single-output (SISO) fuzzy
system is applied to modify each element of the control in a sliding mode controller. The
proposed method is designed based on the Lyapunov method. Mathematical proof for the
stability and the convergence of the system is presented. Various operation situations such as
the set point control and the trajectory control are simulated. The simulation results
demonstrate that the chattering and the steady state errors, which usually occur in the
classical sliding mode control, are eliminated and satisfactory trajectory tracking is
achieved.
reduce/eliminate motor vibration. The fuzzy (PI+D)2 single-input single-output (SISO) fuzzy
system is applied to modify each element of the control in a sliding mode controller. The
proposed method is designed based on the Lyapunov method. Mathematical proof for the
stability and the convergence of the system is presented. Various operation situations such as
the set point control and the trajectory control are simulated. The simulation results
demonstrate that the chattering and the steady state errors, which usually occur in the
classical sliding mode control, are eliminated and satisfactory trajectory tracking is
achieved.
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize... more
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the... more
Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot assisted surgery is keeping expanding its influences in more general medical field.
Refer to this research, auxiliary sliding variable sliding mode controller is proposed for multi DOF joint with application in surgical robot manipulator. The main problem in this research is design robust chattering free sliding mode controller. The chattering phenomenon problem is reduced in certain/uncertain system by using auxiliary sliding variable. The simulation results exhibit that the sliding mode controller with auxiliary sliding variable works well in certain and uncertain condition.
Refer to this research, auxiliary sliding variable sliding mode controller is proposed for multi DOF joint with application in surgical robot manipulator. The main problem in this research is design robust chattering free sliding mode controller. The chattering phenomenon problem is reduced in certain/uncertain system by using auxiliary sliding variable. The simulation results exhibit that the sliding mode controller with auxiliary sliding variable works well in certain and uncertain condition.
Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the... more
Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot assisted surgery is keeping expanding its influences in more general medical field. Refer to this research, auxiliary sliding variable sliding mode controller is proposed for multi DOF joint with application in surgical robot manipulator. The main problem in this research is design robust chattering free sliding mode controller. The chattering phenomenon problem is reduced in certain/uncertain system by using auxiliary sliding variable. The simulation results exhibit that the sliding mode controller with auxiliary sliding variable works well in certain and uncertain condition.
- by Saman Rahbar and +1
- •
ABSTRACT Knowledge of similar code fragments, also known as code clones, is important to many software maintenance activities including bug fixing, refactoring, impact analysis and program comprehension. While a great deal of research has... more
ABSTRACT Knowledge of similar code fragments, also known as code clones, is important to many software maintenance activities including bug fixing, refactoring, impact analysis and program comprehension. While a great deal of research has been conducted for finding techniques and implementing tools to identify code clones, little research has been done to analyze the relationships between code clones and other aspects of software. In this paper, we attempt to uncover the relationships between code clones and coupling among domain-level components. We report on a case study of a large-scale open source enterprise system, where we demonstrate that the probability of finding code clones among components with domain-based coupling is more than 90%. While such a probabilistic view does not replace a clone detection tool per se, it certainly has the potential to complement the existing tools by providing the probability of having code clones between software components. For example, it can both reduce the clone search space and provide a flexible and language independent way of focusing only on a specific part of the system. It can also provide a higher level of abstraction to look at the cloning relationships among software components.
- by Fabrizio Perin and +1
- •
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