Proceedings of the second world congress on Nonlinear analysts: part 3
A fuzzy-neural multi-model for nonlinear systems identification and control
Fuzzy Sets and Systems
Closed chain mechanism of a micro and nano robot for cell manipulations
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
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The present paper is a short review of some of the concepts, procedures and achieved results, oriented toward the modeling of complex, large installations, known under the name of HYPAS. Physical phenomena involved in hydraulic, pneumatic, mechanic and electric systems are depicted by mathematical models (MM) with static and dynamic nonlinearities (NL). This means that, when building large installations, the MM provide multiple NL. They should be completely known in order for the controller to be designed appropriately enough to provide desired behavior, while complying with economical conditions. To facilitate the automatic mathematical model generation, a library with multilayer models was created and are made available. This approach was necessary because the MATLAB® library provides only few general NL. In cases where applicable, neuro-fuzzy techniques were employed for modeling of NL. The paper presents some of the most important results, accompanied by their MATLAB Simulink® representation.