A novel computationally intelligent architecture for identification and control of nonlinear systems

Author

Efe, M. ?–der ; Kaynak, Okyay ; Rudas, Imre J.

Author_Institution

Mechatronics Res. & Appl. Center, Bogazici Univ., Istanbul, Turkey

Volume

3

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

2073

Abstract

In this study, a novel method for identification and control of nonlinear systems is developed. The method proposed realizes the dynamics of a system by employing the Runge-Kutta method at the upper level. The intermediate level of the strategy constructs the architecture utilizing an adaptive neuro fuzzy inference system. The overall system is able to imitate the behavior of a complex dynamic system with a few rules or to control the system with high accuracy. The proposed method has been applied to a two degrees of freedom direct drive SCARA robot

Keywords

Runge-Kutta methods; adaptive control; fuzzy control; fuzzy neural nets; identification; inference mechanisms; intelligent control; manipulators; neurocontrollers; nonlinear control systems; 2-DOF direct drive SCARA robot; Runge-Kutta method; adaptive neuro fuzzy inference system; computationally intelligent architecture; nonlinear system control; nonlinear system identification; system dynamics; Competitive intelligence; Computational intelligence; Computer architecture; Control systems; Fuzzy systems; Manipulators; Neural networks; Nonlinear control systems; Nonlinear systems; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770412

Filename

770412