Intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks for a ball-riding robot

2012 ◽  
Author(s):  
Cheng-Kai Chan ◽  
Ching-Chih Tsai
Keyword(s):  
Neural Networks ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Neural Networks ◽  
Mode Control ◽  
Fuzzy Neural ◽  
Backstepping Sliding Mode Control ◽  
Interval Type ◽  
Recurrent Interval

Sliding mode incremental learning algorithm for interval type-2 Takagi–Sugeno–Kang fuzzy neural networks

2012 ◽  
Vol 3 (3) ◽  
pp. 179-188 ◽  
Author(s):  
Sevil Ahmed ◽  
Nikola Shakev ◽  
Andon Topalov ◽  
Kostadin Shiev ◽  
Okyay Kaynak
Keyword(s):  
Neural Networks ◽  
Incremental Learning ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Fuzzy Neural Networks ◽  
Fuzzy Neural ◽  
Interval Type ◽  
Takagi Sugeno

System Identification Based on Dynamical Training for Recurrent Interval Type-2 Fuzzy Neural Network

2013 ◽  
pp. 188-205
Author(s):  
Tsung-Chih Lin ◽  
Yi-Ming Chang ◽  
Tun-Yuan Lee
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
System Identification ◽  
Nonlinear System ◽  
Fuzzy Neural Networks ◽  
Training Data ◽  
Fuzzy Neural ◽  
Interval Type ◽  
Recurrent Interval

This paper proposes a novel fuzzy modeling approach for identification of dynamic systems. A fuzzy model, recurrent interval type-2 fuzzy neural network (RIT2FNN), is constructed by using a recurrent neural network which recurrent weights, mean and standard deviation of the membership functions are updated. The complete back propagation (BP) algorithm tuning equations used to tune the antecedent and consequent parameters for the interval type-2 fuzzy neural networks (IT2FNNs) are developed to handle the training data corrupted by noise or rule uncertainties for nonlinear system identification involving external disturbances. Only by using the current inputs and most recent outputs of the input layers, the system can be completely identified based on RIT2FNNs. In order to show that the interval IT2FNNs can handle the measurement uncertainties, training data are corrupted by white Gaussian noise with signal-to-noise ratio (SNR) 20 dB. Simulation results are obtained for the identification of nonlinear system, which yield more improved performance than those using recurrent type-1 fuzzy neural networks (RT1FNNs).

scholarly journals Improved Adaptive Sliding Mode Control for a Class of Uncertain Nonlinear Systems Subjected to Input Nonlinearity via Fuzzy Neural Networks

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Tat-Bao-Thien Nguyen ◽  
Teh-Lu Liao ◽  
Jun-Juh Yan
Keyword(s):  
Neural Networks ◽  
Adaptive Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Neural Networks ◽  
Adaptive Sliding Mode Control ◽  
Input Nonlinearity ◽  
Mode Control ◽  
Model Dynamics ◽  
Fuzzy Neural

The paper presents an improved adaptive sliding mode control method based on fuzzy neural networks for a class of nonlinear systems subjected to input nonlinearity with unknown model dynamics. The control scheme consists of the modified adaptive and the compensation controllers. The modified adaptive controller online approximates the unknown model dynamics and input nonlinearity and then constructs the sliding mode control law, while the compensation controller takes into account the approximation errors and keeps the system robust. Based on Lyapunov stability theorem, the proposed method can guarantee the asymptotic convergence to zero of the tracking error and provide the robust stability for the closed-loop system. In addition, due to the modification in controller design, the singularity problem that usually appears in indirect adaptive control techniques based on fuzzy/neural approximations is completely eliminated. Finally, the simulation results performed on an inverted pendulum system demonstrate the advanced functions and feasibility of the proposed adaptive control approach.

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