Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System

High-precision trajectory control is considered as an important factor in the performance of industrial two-axis contour motion systems. This research presents an adaptive direct fuzzy cerebellar model articulation controller (CMAC) sliding mode control (DFCMACSMC) for the precise control of the industrial XY-axis motion system. The FCMAC was utilized to approximate an ideal controller, and the weights of FCMAC were on-line tuned by the derived adaptive law based on the Lyapunov criterion. With this derivation in mind, the asymptotic stability of the developed motion system could be guaranteed. The two-axis stage system was experimentally investigated using four contours, namely, circle, bowknot, heart, and star reference contours. The experimental results indicate that the proposed DFCMACSMC method achieved the improved tracking capability, and so reveal that the DFCMACSMC scheme outperformed other schemes of the model uncertainties and cross-coupling interference.

Design of Adaptive TSK Fuzzy Self-Organizing Recurrent Cerebellar Model Articulation Controller for Chaotic Systems Control

The synchronization and control of chaos have been under extensive study by researchers in recent years. In this study, an adaptive Takagi–Sugeno–Kang (TSK) fuzzy self-organizing recurrent cerebellar model articulation controller (ATFSORC) is proposed, which is composed of a set of TSK fuzzy rules, a cerebellar model articulation controller (CMAC), a recurrent CMAC (RCMAC), a self-organizing CMAC (SOCMAC), and a compensation controller. Specifically, SOCMAC, RCMAC, and adaptive laws are adopted so that the association memory layers of ATFSORC can be modulated in accordance with the layer decision-making mechanism in order to reduce the structure complexity and improve the control performance of ATFSORC. Moreover, the Takagi–Sugeno–Kang fuzzy rules are introduced to increase the learning speed of ATFSORC, and the improved compensating controller is designed to dispel the errors between an ideal controller and the TFSORC. Moreover, the proposed ATFSORC is applied to chaotic systems in order to validate its performance and feasibility. Several simulation schemes are demonstrated to show the effectiveness of the proposed method. Simulation results show that the proposed ATFSORC can obtain a favorable control performance when the chaotic systems are operated at different parameters. Specifically, ATFSORC can achieve faster convergence of the tracking error than fuzzy CMAC (FCMAC) and CMAC.

ADAPTIVE WAVELET FUZZY CMAC TRACKING CONTROL FOR INDUCTION SERVOMOTOR DRIVE SYSTEM

ADAPTIVE WAVELET FUZZY CMAC TRACKING CONTROL FOR INDUCTION SERVOMOTOR DRIVE SYSTEM

Dynamic System Identification and Prediction Using a Self-Evolving Takagi–Sugeno–Kang-Type Fuzzy CMAC Network

This study proposes a Self-evolving Takagi-Sugeno-Kang-type Fuzzy Cerebellar Model Articulation Controller (STFCMAC) for solving identification and prediction problems. The proposed STFCMAC model uses the hypercube firing strength for generating external loops and internal feedback. A differentiable Gaussian function is used in the fuzzy hypercube cell of the proposed model, and a linear combination function of the model inputs is used as the output of the proposed model. The learning process of the STFCMAC is initiated using an empty hypercube base. Fuzzy hypercube cells are generated through structure learning, and the related parameters are adjusted by a gradient descent algorithm. The proposed STFCMAC network has some advantages that are summarized as follows: (1) the model automatically selects the parameters of the memory structure, (2) it requires few fuzzy hypercube cells, and (3) it performs identification and prediction adaptively and effectively.

Integrated Computer Vision and Type-2 Fuzzy CMAC Model for Classifying Pilling of Knitted Fabric

Human visual inspection for classifying the pilling of knitted fabric not only consumes human resources but also causes occupational hazard because of long-term observation using human eyes. This reduces the efficiency of the entire operation. To overcome this, an integrated computer vision and type-2 fuzzy cerebellar model articulation controller (T2FCMAC) was devised for classifying the pilling of knitted fabric. First, the fast Fourier transform was used for image preprocessing to strengthen the characteristics of the pilling in the fabric image. The background and the pilling of knitted fabric were then segmented through binary and morphological operations. Characteristics of the pilling on the fabric were extracted by using image topography. A novel T2FCMAC based on the hybrid of group strategy and artificial bee colony (HGSABC) was proposed to evaluate the pilling grade of knitted fabric. The proposed T2FCMAC classifier embedded a type-2 fuzzy system within a traditional cerebellar model articulation controller (CMAC). The proposed HGSABC learning algorithm was used for adjusting the parameters of T2FCMAC classifiers and preventing the fall into a local optimum. A group search strategy was used to obtain balanced search capabilities and improve the performance of the artificial bee colony algorithm. The experimental results of the fixed and different illuminations indicated that the proposed method exhibited a superior average accuracy (97.3% and 94.6%, respectively) to other methods.