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The fusion of computationally intelligent methodologies and slidingmode control—a survey
 IEEE Transactions on Industrial Electronics
, 2001
"... Abstract—This paper surveys how some “intelligence ” can be incorporated in slidingmode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the wellknown problems met in practical implementations of SMCs. The use of variablestructure system theory in des ..."
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Cited by 23 (4 self)
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Abstract—This paper surveys how some “intelligence ” can be incorporated in slidingmode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the wellknown problems met in practical implementations of SMCs. The use of variablestructure system theory in design and stability analysis of fuzzy controllers is also discussed by drawing parallels between fuzzy control and SMCs. An overview of the research and applications reported in the literature in this respect is presented. Index Terms—Computational intelligence, slidingmode control, soft computing.
On Stabilization of GradientBased Training Strategies for Computationally Intelligent Systems
 IEEE Transactions on Fuzzy Systems
, 2000
"... This paper develops a novel training methodology for computationally intelligent systems utilizing gradient information in parameter updating. The devised scheme uses the firstorder dynamic model of the training procedure and applies the variable structure systems approach to control the training d ..."
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Cited by 4 (2 self)
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This paper develops a novel training methodology for computationally intelligent systems utilizing gradient information in parameter updating. The devised scheme uses the firstorder dynamic model of the training procedure and applies the variable structure systems approach to control the training dynamics. This results in an optimal selection of the learning rate, which is continually updated as prescribed by the adopted strategy. The parameter update rule is then mixed with the conventional error backpropagation method in a weighted average. The paper presents an analysis of the imposed dynamics, which is the response of the training dynamics driven solely by the inputs designed by variable structure control approach. The analysis continues with the global stability proof of the mixed training methodology and the restrictions on the design parameters. The simulation studies presented are focused on the advantages of the proposed scheme with regards to the compensation of the adverse ...
A robust identification technique for timevarying ARMA processes based on variable structure systems theory. Mathematical and computer modeling of dynamical systems
, 2002
"... In this paper, a novel method for extracting the values of the coefficients of timevarying ARMA processes is proposed. The approach discussed assumes solely that the orders of the numerator and the denominator polynomials are known. The algorithm is demonstrated to be stable in the sense of Lyapuno ..."
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Cited by 1 (1 self)
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In this paper, a novel method for extracting the values of the coefficients of timevarying ARMA processes is proposed. The approach discussed assumes solely that the orders of the numerator and the denominator polynomials are known. The algorithm is demonstrated to be stable in the sense of Lyapunov, furthermore, it is shown in the paper that the evolution in the parameter space takes place in a finite volume. The proposed method is cost effective and is based on the variable structure systems theory, which is well known with its robustness to uncertainties. In the simulation example, the coefficients of a second order ARMA process is extracted by the use of the algorithm presented. The results confirm the prominent features of the proposed technique.
INTELLIGENT CONTROL ISSUES IN A DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEM: ICUBES
"... general, and in selfreconfiguring modular robotic systems in particular concerns the coordination and cooperation of multiple objects to fulfill a specified task. However, the implementation phase typically faces two conflicting needs: Cheapest design and accuracy in fulfilling the task. In this pa ..."
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general, and in selfreconfiguring modular robotic systems in particular concerns the coordination and cooperation of multiple objects to fulfill a specified task. However, the implementation phase typically faces two conflicting needs: Cheapest design and accuracy in fulfilling the task. In this paper, we describe a fuzzy control scheme for the servo systems of ICubes, which operate in a highly informationlimited environment due to the size constraints. The results observed strongly recommend the approach due to its low computational cost together with the robustness against disturbances.
A Novel Approach for OnLine Tuning in the Defuzzification Stage of Fuzzy Logic Controllers
"... In this paper, a novel method for tuning the parameters of fuzzy controllers is discussed. The aim of the design is to extract a tuning law for the defuzzifier parameters such that the specifications of the control problem are met and the adjustable parameters evolve boundedly. The achievement of th ..."
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In this paper, a novel method for tuning the parameters of fuzzy controllers is discussed. The aim of the design is to extract a tuning law for the defuzzifier parameters such that the specifications of the control problem are met and the adjustable parameters evolve boundedly. The achievement of these specifications is a challenge in the presence of strong external disturbances, ambiguities in the plant model and nonlinearities, which absolutely require robustness for performance and stability for safety and applicability. The approach introduced in this paper achieves these targets by utilizing the sliding mode control technique based on an augmented switching manifold. The proposed law is applicable to the class of controllers, the output of each member of which is linear in the adjustable parameter set. This stipulates that the fuzzy controllers fall within the application spectrum of the proposed technique. In the application example, fuzzy control of a coupled double pendulum system is considered. The dynamic model of the plant is assumed to be unknown and the difficulties introduced by observation noise and nonzero initial conditions are studied. 1.
Variable Structure Systems Theory in Computational Intelligence
"... Abstract. Intelligence in the form of wellorganized solutions to the illposed problems has been the primary focus of many engineering applications. The everincreasing developments in data fusion, sensor technology and highspeed microprocessors made the design in digital domain with high perform ..."
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Abstract. Intelligence in the form of wellorganized solutions to the illposed problems has been the primary focus of many engineering applications. The everincreasing developments in data fusion, sensor technology and highspeed microprocessors made the design in digital domain with high performance. A natural consequence of the progression during the last few decades is the emergence of computationally intelligent systems. Neural networks and fuzzy inference systems constitute the core approaches of computational intelligence, whose methods have extensively been used in the applications extending from image/pattern recognition to identification and control of nonlinear systems. This chapter is devoted to the analysis and design of learning strategies in the context of variable structure systems. Several approaches are discussed in detail with special emphasis on the sliding mode control of nonlinear systems. 1
AN ONLINE AND ROBUST IDENTIFICATION SCHEME FOR TIME VARYING ARMA PROCESSES
"... In this paper, a novel method for extracting the values of the coefficients of timevarying ARMA processes is proposed. The approach discussed assumes solely that the orders of the numerator and the denominator polynomials are known. The algorithm is demonstrated to be stable in the sense of Lyapuno ..."
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In this paper, a novel method for extracting the values of the coefficients of timevarying ARMA processes is proposed. The approach discussed assumes solely that the orders of the numerator and the denominator polynomials are known. The algorithm is demonstrated to be stable in the sense of Lyapunov, furthermore, it is shown in the paper that the evolution in the parameter space takes place in a finite volume. The proposed method is cost effective and is based on the variable structure systems theory, which is well known with its robustness to uncertainties. In the simulation example, the coefficients of a second order ARMA process is extracted by the use of the algorithm presented. 1.
Fuzzy Sliding Mode Control of Nonlinear Systems – An Augmented Switching Manifold Approach
"... In this paper, a novel method for tuning the parameters of fuzzy controllers is discussed. The aim of the design is to extract a tuning law for the defuzzifier parameters such that the specifications of the control problem are met and the adjustable parameters evolve boundedly. The achievement of th ..."
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In this paper, a novel method for tuning the parameters of fuzzy controllers is discussed. The aim of the design is to extract a tuning law for the defuzzifier parameters such that the specifications of the control problem are met and the adjustable parameters evolve boundedly. The achievement of these specifications is a challenge in the presence of strong external disturbances, ambiguities in the plant model and nonlinearities, which absolutely require robustness for performance and stability for safety and applicability. The approach introduced in this paper achieves these targets by utilizing the sliding mode control technique based on an augmented switching manifold. The proposed law is applicable to the class of controllers, the output of each member of which is linear in the adjustable parameter set. This stipulates that the fuzzy controllers fall within the application spectrum of the proposed technique. In the application example, fuzzy control of a coupled double pendulum system is considered. The dynamic model of the plant is assumed to be unknown and the difficulties introduced by observation noise are studied. 1.
Establishment of a Sliding Mode in a Nonlinear System by Tuning the Parameters of a Fuzzy Controller
"... Abstract: In this paper, a novel method for the establishment of a sliding mode in a nonlinear system is presented. The method discussed aims to minimize a cost measure, which is a function of the switching surface. For this purpose, an adaptive fuzzy controller is selected and the parameters of the ..."
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Abstract: In this paper, a novel method for the establishment of a sliding mode in a nonlinear system is presented. The method discussed aims to minimize a cost measure, which is a function of the switching surface. For this purpose, an adaptive fuzzy controller is selected and the parameters of the defuzzifier are adjusted such that the cost is minimized and the system is enforced to behave in sliding mode. The paper considers a 2DOF direct drive robotic manipulator as the test bed and a standard fuzzy system is used as the controller. The results obtained clearly stipulate that a sliding motion can be achieved by appropriately tuning the parameters of the controller. I.
Accepted Date: 19.11.2002 ADAPTIVE FUZZY SLIDING MODE CONTROL FOR A CLASS OF BIPARTITE MODULAR ROBOTIC SYSTEMS
, 2003
"... One of the fundamental issues in the field of modular robotics is the design and implementation of robotic systems with low cost and high performance. Although the coordination of modules entails the minimization of several different performance criteria, the success of the evolution of a group of t ..."
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One of the fundamental issues in the field of modular robotics is the design and implementation of robotic systems with low cost and high performance. Although the coordination of modules entails the minimization of several different performance criteria, the success of the evolution of a group of the modules is strictly dependent upon the fulfillment of control goals. The cost of the modules, on the other hand, is subject to the components used to measure the state, and the hardware used for actuation. Therefore, obtaining a good control performance with cheap hardware is a challenge for control specific issues. In this paper, we describe an adaptive fuzzy sliding mode control scheme implemented on the control of 3DOF ICubes links, which operate in a highly informationlimited environment due to the size constraints, and which are bipartite. The tuning law is justified both in continuous time and in discrete time cases of sliding mode control approach. The implementation results justify the theoretical foundations and strongly recommend the approach due to its low computational cost together with the robustness against disturbances and uncertainties.