Cerebellar Model Articulation Controller Research Articles

Robust Adaptive Cerebellar Model Articulation Controller for 1-DOF Nonlaminated Active Magnetic Bearings

Robust Adaptive Cerebellar Model Articulation Controller for 1-DOF Nonlaminated Active Magnetic Bearings

An adaptive control framework based multi-modal information-driven dance composition model for musical robots.

Currently, most robot dances are pre-compiled, the requirement of manual adjustment of relevant parameters and meta-action to change the dancing to another type of music would greatly reduce its function. To overcome the gap, this study proposed a dance composition model for mobile robots based on multimodal information. The model consists of three parts. (1) Extraction of multimodal information. The temporal structure feature method of structure analysis framework is used to divide audio music files into music structures; then, a hierarchical emotion detection framework is used to extract information (rhythm, emotion, tension, etc.) for each segmented music structure; calculating the safety of the current car and surrounding objects in motion; finally, extracting the stage color of the robot's location, corresponding to the relevant atmosphere emotions. (2) Initialize the dance library. Dance composition is divided into four categories based on the classification of music emotions; in addition, each type of dance composition is divided into skilled composition and general dance composition. (3) The total path length can be obtained by combining multimodal information based on different emotions, initial speeds, and music structure periods; then, target point planning can be carried out based on the specific dance composition selected. An adaptive control framework based on the Cerebellar Model Articulation Controller (CMAC) and compensation controllers is used to track the target point trajectory, and finally, the selected dance composition is formed. Mobile robot dance composition provides a new method and concept for humanoid robot dance composition.

Realization of a database‐driven PID control system using a CMAC memory

AbstractAs a nonlinear control approach, a database‐driven PID (DD‐PID) controller has been proposed that uses distance calculations of an initial database to tune PID parameters. However, sorting operations are required in extracting neighborhood data from the database, which imposes a large computational load. Therefore, it is impossible to finish this computation within a restricted sampling period in control systems with fast response time and insufficient memory capacity. On the other hand, the cerebellar model articulation controller (CMAC) has advantages for these problems and has similar constructs to the DD approach. Therefore, this paper combines advantages of these two approaches, and proposes a CMAC‐PID controller design based on off‐line optimization of a database. Finally, a comparison with conventional off‐line CMAC‐PID controller and DD‐PID controller through simulations are considered.

RCMACNN control of flexible space robot with dead-zone compensator and friction observer

In order to improve the trajectory tracking performance of space robots, it is necessary to consider the influence of various working conditions such as dead zone and friction. To deal with them, a compensator is designed to eliminate the effects of the joint torque dead zone and a dual observer is used to estimate the friction state. In order to suppress the vibration of the links, a virtual control force is proposed. Based on this, a hybrid trajectory control based on recurrent cerebellum model articulation controller neural network (RCMACNN) is designed. This method can not only achieve trajectory tracking, but also suppress flexibly vibration, and at the same time eliminate the vibration coupling between various working conditions. Using Lyapunov function, it is proved that the filtering error is ultimately uniformly bounded (UUB). Finally, a planar space robot with two flexible links is applied for simulation, and the results prove the effectiveness of the method.

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

The control of any robotic system always faces many great challenges in theory and practice. Because between theory and reality, there is always a huge difference in the uncertainty components in the system. That leads to the accuracy and stability of the system not being guaranteed with the set requirements. This paper presents a novel adaptive single-input recurrent wavelet differentiable cerebellar model articulation controller (S-RWCMAC)-based supervisory control system for an m-link robot manipulator to achieve precision trajectory tracking. This adaptive S-RWCMAC-based supervisory control system consists of a main adaptive S-RWCMAC, a supervisory controller, and an adaptive robust controller. The S-RWCMAC incorporates the advantages of the wavelet decomposition property with a CMAC fast learning ability, dynamic response, and input space dimension of RWCMAC can be simplified; and it is used to control the plant. The supervisory controller is appended to the adaptive S-RWCMAC to force the system states within a predefined constraint set and the adaptive robust controller is developed to dispel the effect of the approximate error. In this scheme, if the adaptive S-RWCMAC can not maintain the system states within the constraint set. Then, the supervisory controller will work to pull the states back to the constraint set and otherwise is idle. The online tuning laws of S-RWCMAC and the robust controller parameters are derived from the gradient-descent learning method and Lyapunov function so that the stability of the system can be guaranteed. The simulation and experimental results of the novel three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology. The results indicate that the proposed model has superior accuracy compared to that of the Standalone CMAC Controller. The parameters of the average squared error in the S-RWCMAC -based 3 robot joints are lower than those of the Standalone CMAC Controller by 0.023%, 0.029%, and 0.032%, respectively.

Adaptive Intrusion Detection in Edge Computing Using Cerebellar Model Articulation Controller and Spline Fit

Internet-of-Thing (IoT) faces various security attacks. Different solutions exist to mitigate the intrusion problems. However, the existing solutions lack behind in dealing with heterogeneity of attack sources and features. The future anticipated demand of devices’ connections also urge the need of new solutions addressing the concerns of time consumption and complexity. In this article, we show a novel solution for the intrusion detection in IoT framework. We configure the intrusion detection in the edge computing layer so that the effect of the attack is not propagated to the clouds. Our solution uses cerebellar model articulation controller with kernel map. This combination is very new in the direction of intrusion detection; hence, it emphasizes the novelty of our proposed intrusion detection solution. We name our solution as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Cerebellar Model Articulation Controller based Intrusion Detection System (CMACIDS)</i> . Additionally, we use spline fitting to the kernel mapping for the model fit; this adds on another novel contribution to CMACIDS. The results obtained with our detection system are compared with the state-of-the-art solutions in terms of complexity, false alarms, and precision of detection. The analysis of the comparative study proves the efficiency of the solution and makes CMACIDS suitable for IoT paradigm.

CMACメモリによるデータベース駆動型PID制御系の実現

As a nonlinear control approach, a database-driven PID (DD-PID) controller has been proposed that uses distance calculations of an initial database to tune PID parameters. However, sorting operations are required in extracting neighborhood data from the database, which imposes a large computational load. Therefore, it is impossible to finish this computation within a restricted sampling period in control systems with fast response time and insufficient memory capacity. On the other hand, the cerebellar model articulation controller (CMAC) has advantages for these problems and has similar constructs to the DD approach. Therefore, this paper combines advantages of these two approaches, and proposes a CMAC-PID controller design based on off-line optimization of a database. Finally, a comparison with conventional off-line CMAC-PID controller and DD-PID controller through simulations are considered.

Low-volume precision spray for plant pest control using profile variable rate spraying and ultrasonic detection.

Spraying chemical pesticides is one of the important means to control plant pest, and the profile variable spraying is an important technology to achieve precise pesticide application. A profiling tracking control method and an improved algorithm based on CMAC-PID (Cerebellar Model Articulation Controller- Potential Induced Degradation) were proposed in the paper. The test results of the sprayer profiling tracking of the tree canopies showed that the profiling control system using the improved algorithm had significantly better dynamic tracking performance, and the overall mean tracking error was reduced by 35.0%, compared with the traditional CMAC-PID. A spray flow calculation method based on tree canopy volume and leaf area density was proposed. Outdoor testing of the profile variable spraying and conventional spraying was carried out. There was no significant difference between the two spraying methods in terms of droplet coverage, VMD (Volume Median Diameter), NMD (Number Median Diameter), spray quality parameter and relative span coefficient, as well as droplet deposition density. The spray coefficient of variation was reduced by 25.9% and 21.9% inside and outside the tree canopy, respectively. The mean value of the ground deposition coverage of the profile variable spraying and the traditional spray was 13.0% and 33.2%, respectively, indicating a significant impact on the ground droplet deposition coverage by the two spraying methods. The spray flow rate of the profile variable spraying could be decreased by 32.1% compared to the conventional spraying. Profile variable spraying would reduce the cost associated with pesticide use and environmental pollution.

Design of a Database-Driven Controller Realized via CMAC Memory

Proportional-integral-derivative (PID) control is widely applied in industries, though it is sometimes difficult to apply to nonlinear systems. In contrast, database-driven PID (DD-PID) control has been proposed as a control method to adjust adaptive PID parameters. However, although this method can efficiently construct control systems with high control performance for nonlinear systems, its large computational cost in terms of computation time and memory consumption limits its application to relatively slow-response systems such as some process control systems. Therefore, in this paper, the cerebellar model articulation controller (CMAC) is introduced, and a new method to realize the database constructed by DD-PID with CMAC memory is proposed. Finally, numerical simulation examples are employed to quantitatively evaluate the reduction of computation time and memory usage, which verifies the effectiveness of the proposed method.

ROBUST ADAPTIVE FAULT-TOLERANT CONTROL BASED ON GBF-CMAC NEURAL NETWORK FOR LOW-ALTITUDE UAV, 267-276.

For the problem that the attitude of the low-altitude UAV issusceptible to the external environment disturbance and actuatorfailures, a composite control strategy is designed to combine theGaussian basis function cerebellar model articulation controller(GBF-CMAC) neural network with robust adaptive fault-tolerantcontrol (FTC).

Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller

To obtain high-resolution and high-precision images, the aviation remote sensing stabilization platform (ARSSP) is used, which enables the isolation of unpredictable aerial camera movements during aerial photography. However, because of the interaxle coupling interference and other nonlinear interferences in the ARSSP system, the imaging quality of the aerial camera is adversely affected. Therefore, we derived the dynamic model of moment coupling between shafts to illustrate the problem. On the basis of the former proportion integration differentiation (PID) controller based on cerebellar neural network, a nonlinear cross feedback decoupling scheme is adopted to reduce the adverse effects of these interferences. The cerebellar model articulation controller (CMAC) based on synovial membrane control (SMC) is used to reduce the nonlinear interferences caused by the new cross-decoupling module. To verify the effectiveness of the scheme, simulation, indoor and outdoor experiments were conducted. The results showed that the SMC-CMAC significantly reduced the interaxle coupling effect and effectively suppressed the nonlinear interference, resulting in a good tracking performance of the ARSSP system.

Operator Hardware Realization using FPGA: CMAC Implementation as an Example

&lt;p&gt;We propose a hardware implementation on a field-programmable gate array (FPGA) of the cerebellar model articulation controller (CMAC) with an integer numeric system. Existing hardware implementations of floating-point processes on FPGAs have utilized the IEEE 754 standard, which introduces complex operations leading to long processing times. For the most complex part of the CMAC, that is, the exponential operator, traditional look-up table methods carry high memory costs. We, therefore, use a Taylor series to realize the exponential operator. Finally, we connect all the modules into the CMAC.&lt;/p&gt; &lt;p&gt;&amp;nbsp;&lt;/p&gt;

Encryption and Decryption of Audio Signal and Image Secure Communications Using Chaotic System Synchronization Control by TSK Fuzzy Brain Emotional Learning Controllers.

In this article, a new idea of chaos synchronization and chaos-based secure communication is developed. First, the chaotic master system is used as a transmitter in chaos-based secure communication, then a drive signal is constructed, and the information message is encrypted into the drive signal to form a transmitted signal for secure communication. Second, in the receiver, a recurrent Takagi-Sugeno-Kang (TSK) fuzzy brain emotional learning cerebellar model articulation controller (RTFBECAC) is developed to control the slave system to follow the master system in the transmitter. Third, after descripting the chaotic signal, the embedded information message can be recovered. Besides, the stability problem is analyzed in detail based on the stability theory. Finally, two simulation examples, including audio signal and image, are introduced to illustrate the effectiveness and the advantages of the proposed method.

High-resolution soil moisture mapping using PSO-based optimized cerebellar model articulation controller (CMAC)

A good knowledge in eco-hydrological processes requires significant understanding of geospatial distribution of soil moisture (SM). However, SM monitoring remains challenging due to its large spatial variability and its dynamic time response. This study was performed to assess the performance of a particle swarm optimization (PSO)-based optimized Cerebellar Model Articulation Controller (CMAC) in generating high-resolution surface SM estimates using sentinel-2 imagery over a Mediterranean agro-ecosystem. Furthermore, the results were compared with those of PSO-based optimized group method of data handling (GMDH) as a more common data-driven method. Two different modeling approaches i.e. modeling in homogenous clusters (local approach) and modeling in entire area as an entity (global approach) were examined. Candidate predictors namely sentinel-2 spectral bands, normalized difference vegetation index (NDVI) and normalized difference water index (NDWI), digital elevation model (DEM), slope and aspect were used as the input variables to estimate SM. An intensive field survey had been done to gather in-situ SM data using a time-domain reflectometer (TDR). K-fold validation based on in-situ SM measurements demonstrated the reasonability of the SM estimation of the proposed methodology. Detecting homogeneous areas was done using genetic and particle swarm optimization algorithms. Synthesized SM product of PSO-GMDH showed a mean Normalized Root-Mean-Square Error (NRMSE) of 13.6 to 8.91 for global and local approaches in the test phase. PSO-CMAC method with an average NRMSE of 12.47 to 8.72 for global and local approaches shows the highest accuracy and outperforms the PSO-GMDH method at both local and global approaches. Overall, results revealed that clustering study area prior to running machine learning (ML) models coupled with optical satellite imagery and geophysical properties, boosts their predictive performance and can lead to more accurate mapping of SM with more heterogeneity. The results also showed that the global approach had a moderate performance in capturing the SM heterogeneity.

Wavelet CMAC for MIMO uncertain nonlinear systems using a modified social ski‐driver algorithm

AbstractThis study uses a Mexican hat wavelet membership function for a cerebellar model articulation controller (CMAC) to develop a more efficient adaptive controller for multiple input multiple output (MIMO) uncertain nonlinear systems. The main controller is called the adaptive Mexican hat wavelet CMAC (MWCMAC), and an auxiliary controller is used to remove the residual error. For the MWCMAC, the online learning laws are derived from the gradient descent method. In addition, the learning rate values are very important and have a great impact on the performance of the control system; however, they are difficult to choose accurately. Therefore, a modified social ski driver (SSD) algorithm is proposed to find optimal learning rates for the control parameters. Finally, a magnetic ball levitation system and a nine‐link biped robot are used to illustrate the effectiveness of the proposed SSD‐based MWCMAC control system. The comparisons with other existing control algorithms have shown the superiority of the proposed control system.

Fault Diagnosis and Tolerant Control for Three-Level T-Type Inverters

This paper proposes a fault diagnosis system for inverters based on a cerebellar model articulation controller (CMAC). First, a three-level T-type inverter was implemented and used to create a three-level T-type inverter test environment for measuring the output voltage waveforms of faulty power transistors on the main inverter circuit under different output frequencies. The measured waveforms were processed using a fast Fourier transform (FFT) algorithm to create frequency spectrum diagrams and extract the characteristic spectra of corresponding faulty switches. Then, the associations of the spectra were determined and applied as training data for the CMAC to detect the positions of the faulty power transistors. The test results demonstrated that the proposed induction motor fault diagnosis system is capable of fast algorithm, requires less data to train, and has excellent accuracy of identification, with an error margin of ±5%. The detection results were then processed using a fault-tolerant controller (FTC) to enhance the reliability of the proposed system. Finally, some simulations and experimental results were conducted and analyzed to validate the feasibility of the proposed FTC system.

A Novel Self-organizing Fuzzy Cerebellar Model Articulation Controller Based Overlapping Gaussian Membership Function for Controlling Robotic System

This paper introduces an effective intelligent controller for robotic systems with uncertainties. The proposed method is a novel self-organizing fuzzy cerebellar model articulation controller (NSOFC) which is a combination of a cerebellar model articulation controller (CMAC) and sliding mode control (SMC). We also present a new Gaussian membership function (GMF) that is designed by the combination of the prior and current GMF for each layer of CMAC. In addition, the relevant data of the prior GMF is used to check tracking errors more accurately. The inputs of the proposed controller can be mixed simultaneously between the prior and current states according to the corresponding errors. Moreover, the controller uses a self-organizing approach which can increase or decrease the number of layers, therefore the structures of NSOFC can be adjusted automatically. The proposed method consists of a NSOFC controller and a compensation controller. The NSOFC controller is used to estimate the ideal controller, and the compensation controller is used to eliminate the approximated error. The online parameters tuning law of NSOFC is designed based on Lyapunov’s theory to ensure stability of the system. Finally, the experimental results of a 2 DOF robot arm are used to demonstrate the efficiency of the proposed controller.

Two model-free schemes for solving kinematic tracking control of redundant manipulators using CMAC networks

Kinematic tracking control of robotic manipulators is a basic and vital issue in robotics. However, how to achieve the control of robotic manipulators with unknown kinematic models remains challenging. Existing studies show that cerebellum, a pivotal region of brain, plays a major role in human motion control, which motivates us to devise two schemes based on cerebellum model articulation controller (CMAC) for the tracking control of redundant manipulators with unknown kinematic models in this article. The first scheme is based on a CMAC network and a gradient neural dynamics (GND) algorithm. The CMAC network is utilized to generate approximate joint angle commands for the manipulator. By using the Jacobian matrix of the manipulator which is estimated by the GND algorithm, task space error is transformed into joint space error, which is taken as the teaching signal for training the CMAC. For the second scheme, another CMAC network replaces the GND algorithm to achieve the estimation of the Jacobian matrix of the manipulator. The effectiveness and robustness of the proposed control schemes are verified by both simulations and physical experiments.

Neural longitudinal control of hypersonic vehicles with constrained aerodynamic surfaces

This paper presents a neural adaptive flight control for longitudinal dynamics of air-breathing hypersonic vehicles (AHVs) with constrained aerodynamic surfaces. Multiple actuator constraints including magnitude, rate, and first-order dynamic model in both the elevator and canard are transformed into a specific control allocation problem, which can be readily solved using the standard model predictive control (MPC) technique. Furthermore, an adaptive control scheme is developed combining with the above control allocation and the recurrent cerebellar model articulation controller (RCMAC), which well handles actuator constraints and uncertain factors including aerodynamic coefficients, external disturbances, and flexible dynamics. Numerous simulation results verify performance and robustness of the proposed neural adaptive control.

Torque Ripple Suppression Method of Switched Reluctance Motor Based on an Improved Torque Distribution Function

Currently, torque ripple is a crucial factor hindering the application of the switched reluctance motor (SRM). Hence, it is of crucial importance to suppress this undesirable torque ripple. This paper proposes a new torque ripple suppression method of SRM based on the improved torque distribution function. Firstly, the electromagnetic characteristic model of a 8/6-pole four-phase SRM is established, and the cerebellar model articulation controller (CMAC) is used to complete the learning of each model. Then, the improved torque distribution function is planned based on the torque model to give the reference torque of each phase, and the inverse torque model is used to realize the mapping of the reference torque to the reference flux linkage. Finally, the duty of each phase voltage PWM wave modulation is output based on the PID control theory. The proposed accurate model-based planning scheme is implemented on the simulation platform, and the results shows that the maximum torque fluctuation of the output results is reduced to within 3%, and the average error is reduced to within 1%, which is much lower than the error of 15% under the traditional direct torque control method.