Adaptive LAMDA applied to identify and regulate a process with variable dead time

Morales, Luis; Pozo, David; Aguilar, José; Rosales, Andrés

doi:10.1109/fuzz48607.2020.9177687

Cited by 2 publications

(3 citation statements)

References 17 publications

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“…C. ADAPTIVE LAMDA CONTROL This method has been presented in detail in [27], [39]. It has been proposed to model and control systems whose model is unknown or uncertain.…”

Section: B Lamda Sliding-mode Control (Lsmc)mentioning

confidence: 99%

LAMDA Control Approaches Applied to Trajectory Tracking for Mobile Robots

et al. 2021

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This paper presents the application of different approaches of intelligent controllers based on LAMDA (Learning Algorithm for Multivariate Data Analysis) to perform the trajectory tracking task of a mobile robot Pioneer 3-DX simulated in the Virtual Robot Experimentation Platform V-REP environment. The paper proposes the design of a cascade control strategy composed of two controllers, the external controller based on a feedback linearization for the robot kinematics and the internal controller applied to the robot dynamics where the LAMDA approaches are applied. In this work, it is considered an uncertain dynamic model. Thus, its identification and control are based on a reduced-order model for designing purposes. Finally, the dynamic controller is designed using different controllers based on LAMDA, such as LAMDA-PID, LAMDA-Sliding Mode Control, and Adaptive LAMDA. To perform a comparative analysis between them that includes a conventional PID, SMC, and Fuzzy-PID, different trajectories are examined to evaluate the methods. The obtained results are compared qualitatively and quantitatively to determine which proposal performs the most accurate control and presents the best results in terms of performance.INDEX TERMS LAMDA, intelligent control, mobile robot, trajectory tracking.

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“…C. ADAPTIVE LAMDA CONTROL This method has been presented in detail in [27], [39]. It has been proposed to model and control systems whose model is unknown or uncertain.…”

Section: B Lamda Sliding-mode Control (Lsmc)mentioning

confidence: 99%

LAMDA Control Approaches Applied to Trajectory Tracking for Mobile Robots

et al. 2021

View full text Add to dashboard Cite

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“…Considering the Lyapunov function in (41) and its first derivative presented in (42), the aim is to satisfy the conditioṅ V < 0 [59]. Therefore, replacing (35) and (51) in (43) it is obtained:…”

Section: Stability Analysismentioning

confidence: 99%

“…This method has a training phase to set initial values for the controller, and an application phase that consists of online learning to update the estimated model and compute the control action. This controller has proven to be adequate where the system dynamics are uncertain and complex [42]. Finally, our latest work [43] focuses on the formalization of a LAMDA algorithm for control based on the fundamentals of the Lyapunov theory and the Sliding-Mode Control (SMC), to guarantee stability and robustness of the overall system.…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Sliding-Mode Control Based on Z-Numbers and LAMDA

et al. 2021

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Z-Numbers is a recent concept related to fuzzy logic where the restriction and reliability criteria are characterized as fuzzy sets. Due to the potential of Z-numbers, this paper presents the development of a fuzzy controller that combines the fundamentals of LAMDA (Learning Algorithm for Multivariate Data Analysis) with the concepts of the Total Utility of Z-numbers, to establish an inference method to improve the performance in a control system. The controller uses criteria from the sliding mode control (SMC) and the Lyapunov concepts to guarantee robustness and stability respectively. The LAMDA method is applied to compute a chattering-free control action which is applied to systems with model uncertainties and variable dynamics. The fuzzy controller has been tested by simulation in two different tasks: 1) Control of a process that consists of a mixing tank with variable dynamics, and 2) Trajectory tracking of a mobile robot. The proposed approach provides suitable results at runtime and outperforms the results of the other tested controllers in terms of performance, minimizing the deviation between the current system output and the reference. Finally, a complexity analysis is presented to evaluate the feasibility in the implementation of the proposal. The obtained results prove the suitability of using a LAMDA Z-number-based controller in the tested systems.

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Adaptive LAMDA applied to identify and regulate a process with variable dead time

Cited by 2 publications

References 17 publications

LAMDA Control Approaches Applied to Trajectory Tracking for Mobile Robots

LAMDA Control Approaches Applied to Trajectory Tracking for Mobile Robots

A Fuzzy Sliding-Mode Control Based on Z-Numbers and LAMDA

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