caa a22 4500 606159231 CHVBK 20210128100623.0 cr unu---uuuuu 210128e20150801xx s 000 0 eng 10.1007/s00521-014-1807-6 doi (NATIONALLICENCE)springer-10.1007/s00521-014-1807-6 Adaptive functional-based neuro-fuzzy PID incremental controller structure [Elektronische Daten] [A. Fahmy, A. Abdel Ghany] This paper presents an adaptive functional-based neuro-fuzzy PID incremental controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three-term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral functions for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation. Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using bees algorithm and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA® type robot arm. The Natural Computing Applications Forum, 2015 Optimization techniques nationallicence Adaptive control nationallicence Fuzzy systems nationallicence Neuro-fuzzy PID controllers nationallicence Neuro-fuzzy systems nationallicence Bees algorithm nationallicence BA : Bees algorithm nationallicence BP : Back-propagating nationallicence FNN : Fuzzy neural network nationallicence FFNN : Feed-forward fuzzy neural network nationallicence FLC : Fuzzy logic control nationallicence FLS : Fuzzy logic system nationallicence FAM : Fuzzy associative memory nationallicence FCE : Fuzzy control element nationallicence FPCE : Fuzzy proportional control element nationallicence FDCE : Fuzzy derivative control element nationallicence FICE : Fuzzy integral control element nationallicence MSF : Membership function nationallicence MOM : Mean of maxima defuzzification method nationallicence NN : Neural network nationallicence NFPID : Neuro-fuzzy proportional, integral, derivative controller nationallicence PID : Proportional, integral, derivative controller nationallicence TS model : Takagi and Sugeno model nationallicence Fahmy A. Systems Engineering Department, Cardiff School of Engineering, Cardiff University, CF24 3AA, Cardiff, UK aut Abdel Ghany A. Electrical Power and Machines Department, Faculty of Engineering, Helwan University, Cairo, Egypt aut Neural Computing and Applications Springer London 26/6(2015-08-01), 1423-1438 0941-0643 26:6<1423 2015 26 521 https://doi.org/10.1007/s00521-014-1807-6 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00521-014-1807-6 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Fahmy A. Systems Engineering Department, Cardiff School of Engineering, Cardiff University, CF24 3AA, Cardiff, UK aut NATIONALLICENCE 700 1- Abdel Ghany A. Electrical Power and Machines Department, Faculty of Engineering, Helwan University, Cairo, Egypt aut NATIONALLICENCE 773 0- Neural Computing and Applications Springer London 26/6(2015-08-01), 1423-1438 0941-0643 26:6<1423 2015 26 521