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Authors: Ieroham Baruch 1 ; Jose Luis Olivares 1 and Federico Thomas 2

Affiliations: 1 CINVESTAV-IPN, Mexico ; 2 IRI-UPC, Spain

ISBN: 972-8865-29-5

Keyword(s): Inverse model adaptive neural control, Direct adaptive neural control, Systems identification, Fuzzy-neural hierarchical multi-model, Recurrent trainable neural network, Mechanical system with friction.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Computational Intelligence ; Enterprise Information Systems ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Neural Networks Based Control Systems ; Soft Computing

Abstract: A Recurrent Trainable Neural Network (RTNN) with a two layer canonical architecture and a dynamic Backpropagation learning method are applied for identification and control of complex nonlinear mechanical plants. The paper uses a Fuzzy-Neural Hierarchical Multi-Model (FNHMM), which merge the fuzzy model flexibility with the learning abilities of the RNNs. The paper proposed the application of two control schemes, which are: a trajectory tracking control by an inverse FNHMM and a direct adaptive control, using the states issued by the identification FNHMM. The proposed control methods are applied for a mechanical plant with friction system control, where the obtained comparative results show that the control using FNHMM outperforms the fuzzy and the neural single control.

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Paper citation in several formats:
Baruch I.; Luis Olivares J.; Thomas F. and (2005). A HIERARCHICAL FUZZY-NEURAL MULTI-MODEL - An application for a mechanical system with friccion identification and control.In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 230-235. DOI: 10.5220/0001174702300235

@conference{icinco05,
author={Ieroham Baruch and Jose {Luis Olivares} and Federico Thomas},
title={A HIERARCHICAL FUZZY-NEURAL MULTI-MODEL - An application for a mechanical system with friccion identification and control},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={230-235},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001174702300235},
isbn={972-8865-29-5},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A HIERARCHICAL FUZZY-NEURAL MULTI-MODEL - An application for a mechanical system with friccion identification and control
SN - 972-8865-29-5
AU - Baruch, I.
AU - Luis Olivares, J.
AU - Thomas, F.
PY - 2005
SP - 230
EP - 235
DO - 10.5220/0001174702300235

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