Adaptive Neuro-Fuzzy Structure Based Control Architecture. (2016)

• Record Type: Journal Article
• Authors: Tamas, Tibor; Hajdu, Szabolcs; Brassai, Sándor Tihamér
• Is Part Of: Procedia technology. Volume 22(2016)
• Page Start: 600
• Page End: 605
• Publication Date: 2016
• Subjects: neuro-fuzzy -- FPGA -- HLS -- adaptive embedded control; Technology -- Congresses; Technology -- Periodicals; Engineering -- Congresses; Engineering -- Periodicals; Engineering; Technology; Conference proceedings; Periodicals; 605
• DOI: 10.1016/j.protcy.2016.01.126
• Languages: English
• ISSNs: 2212-0173

Abstract

Abstract: The purpose of this paper is to present a practical application of a Sugeno model based adaptive neuro-fuzzy architecture. The main challenge of the project was to realize the real-time control of the system and the real-time parameter adaptation of the controller. The neuro-fuzzy controller module is implemented using High Level Synthesis technique, and it's integrated into a microprocessor based architecture on a System on Chip (SoC) type integrated circuit. The architecture is used to control a two degrees of freedom system, which is composed of two horizontal arms attached to a linear bearing. The bearing is running on a vertical beam so the system can execute a vertical motion and a rotary motion around the vertical axle. The positions according to the two degrees of freedom are determined using an ultrasonic and a magnetic sensor.