hybrid_fuzzy_control

hybrid_fuzzy_control - Hybrid Fuzzy Control Rohit...

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Hybrid Fuzzy Control Rohit Hippalgaonkar ME 697Y
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OVERVIEW CONCEPT PROBLEM RESULTS
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CONCEPT Tracking Control Scheme u (t) = (d 1 u 1 (t) + d 2 u 2 (t) )/ (d 1 + d 2 ) wherein, d 1 is degree to which the current state is ‘far-away’ from the reference input d 2 is the degree of ‘proximity’ of current state from the reference input
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CONCEPT ( P-D fuzzy controller) + (I+D conventional control). Control action based on conventional and fuzzy controller outputs. I-controller helps in reducing stead-state error. D-controller reduces frequency of oscillation and dampen response. P-D fuzzy controller helps reduce overshoot and reduces steady- state error.
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PROBLEM Model Parameters (uncertain) : Model of 2-link robot
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PROBLEM Clearly, a highly non-linear and tightly coupled problem. Control goal : To track sinusoidal reference inputs for θ 1 and θ 2 : 2 controllers are used (1 for each motor). Control law used (for i
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hybrid_fuzzy_control - Hybrid Fuzzy Control Rohit...

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