This paper presents an on-line nonlinear dynamic modelling and control approach based on adaptive neuro-fuzzy inference system (ANFIS) for a twin rotor multi-input multi-output system (TRMS), in the vertical plane mot...
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This paper presents an on-line nonlinear dynamic modelling and control approach based on adaptive neuro-fuzzy inference system (ANFIS) for a twin rotor multi-input multi-output system (TRMS), in the vertical plane motion. The TRMS can be considered as a flexible aerodynamic test rig that resembles the behaviour of a helicopter in hovering mode. The TRMS and similar manoeuvring systems are often subjected to random disturbances arising from various sources such as driving motors and external environmental sources. For such highly nonlinear systems with varying operating conditions, adaptive control approaches are suitable tools to cope with plant uncertainties. A model inverse control of the TRMS is developed using on-line ANFIS learning algorithm. The consequent and antecedent parameters of a first order Takagi-Sugeno fuzzy inference system are optimised on-line using recursive least squares and gradient descent algorithms, respectively. The optimal initialization of the ANFIS parameters is achieved through an off-line training process. The developed strategy is compared to other control laws in terms of tracking performance and disturbance rejection. The obtained simulation results demonstrate the efficiency of the on-line control scheme.
This paper looks at the efficiency of the parameterisation of the degrees of freedom within an optimal predictive control algorithm. It is shown that the conventional approach of directly determining each individual f...
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This paper reviews triple mode predictive control for linear time invariant systems and considers the analogies with new approaches to conventional dual mode MPC algorithms deploying Laguerre polynomials. It is shown ...
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This paper reviews triple mode predictive control for linear time invariant systems and considers the analogies with new approaches to conventional dual mode MPC algorithms deploying Laguerre polynomials. It is shown that there are strong analogies and moreover, that using the Laguerre insights within a Triple mode approach may significantly enlarge the feasibility region compared to recently proposed triple mode approaches. The improvements, with respect to an existing Triple mode algorithm, are demonstrated by examples.
This paper presents the utilisation of continuous ant colony optimisation algorithm intended for active vibration control of flexible beam structures. Ant colony optimisation algorithm is used to realise a direct cont...
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This paper presents the utilisation of continuous ant colony optimisation algorithm intended for active vibration control of flexible beam structures. Ant colony optimisation algorithm is used to realise a direct controller design scheme with single objective function to minimise vibration at the free end of the beam. The performance of the system is presented in both time and frequency domains and simulation results reveal that good performance is achieved using this approach.
In this paper a new concept of set invariance, called D-invariance, is introduced for dynamical systems described by delay difference equations. We will be interested in the definition and computation of such invarian...
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This paper presents a novel method in the synchronous reference frame to extract the reference compensating current for single-phase shunt active power filters. The effectiveness of the proposed method is investigated...
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A synchronous reference frame controller with a multi-resonant harmonic compensator for single-phase grid-connected inverters is proposed in this paper. The essence of the proposed control strategy is to use a synchro...
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Computational grids (CGs) have become an attractive research area as they suggest a suitable environment for developing large scale parallel applications. CGs integrate a large amount of distributed heterogeneous reso...
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This paper presents a closed-loop control system for regulating blood glucose level in type-1 diabetic patients. The goals of designing controller are 1. avoidance of hypoglycemia (blood glucose concentrations should ...
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In the last decade, small-scale unmanned helicopters have attracted a significant interest due to their unique abilities. Autonomous path following of them is one of the challenging missions, especially a time-critica...
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