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排序方式: 共有99条查询结果,搜索用时 15 毫秒
1.
Meliksah Ertugrul Okyay Kaynak Feza Kerestecioglu 《International journal of systems science》2013,44(9):1099-1106
In this paper, a novel scheme is proposed to adapt the gains of a sliding mode controller (SMC) so that the problems faced in its practical implementations as a motion controller are overcome. A Lyapunov function is selected for the design of the SMC and an MIT rule is used for gain adaptation. The criterion that is minimized for gain adaptation is selected as the sum of the squares of the control signal and the sliding surface function. This novel approach is tested on a scara-type robot manipulator. The experimental results presented prove its efficacy. 相似文献
2.
In literature a number of different methods are proposed to improve the prediction accuracy of grey models. However, most of them are computationally expensive, and this may prohibit their extensive use. This paper describes a much simpler scheme, based on the principle of concatenation, in which unit step predictions are concatenated by replacing the missing outputs by their previously predicted values. Despite its extreme simplicity, it is shown that the predicted values thus derived results in a better performance than the methods proposed in the literature. Simulation studies show the effectiveness of the proposed algorithm when applied to nonlinear function predictions. 相似文献
3.
M. Onder Efe A. Murat Fiskiran Okyay Kaynak 《International journal of systems science》2013,44(4):513-521
This paper presents a novel training algorithm for adaptive neuro-fuzzy inference systems. The algorithm combines the error back-propagation algorithm with the variable structure systems approach. Expressing the parameter update rule as a dynamic system in continuous time and applying sliding mode control (SMC) methodology to the dynamic model of the gradient based training procedure results in the parameter stabilizing part of training algorithm. The proposed combination therefore exhibits a degree of robustness to the unmodelled multivariable internal dynamics of the gradient-based training algorithm. With conventional training procedures, the excitation of this dynamics during a training cycle can lead to instability, which may be difficult to alleviate owing to the multidimensionality of the solution space and the ambiguities concerning the environmental conditions. This paper shows that a neuro-fuzzy model can be trained such that the adjustable parameter values are forced to settle down (parameter stabilization) while minimizing an appropriate cost function (cost optimization), which is based on state tracking performance. In the application example, trajectory control of a two degrees of freedom direct drive robotic manipulator is considered. As the controller, an adaptive neuro-fuzzy inference mechanism is used and, in the parameter tuning, the proposed algorithm is utilized. 相似文献
4.
Robust and adaptive backstepping control for nonlinear systems using RBF neural networks 总被引:14,自引:0,他引:14
Yahui Li Sheng Qiang Xianyi Zhuang Kaynak O. 《Neural Networks, IEEE Transactions on》2004,15(3):693-701
In this paper, two different backstepping neural network (NN) control approaches are presented for a class of affine nonlinear systems in the strict-feedback form with unknown nonlinearities. By a special design scheme, the controller singularity problem is avoided perfectly in both approaches. Furthermore, the closed loop signals are guaranteed to be semiglobally uniformly ultimately bounded and the outputs of the system are proved to converge to a small neighborhood of the desired trajectory. The control performances of the closed-loop systems can be shaped as desired by suitably choosing the design parameters. Simulation results obtained demonstrate the effectiveness of the approaches proposed. The differences observed between the inputs of the two controllers are analyzed briefly. 相似文献
5.
Conducting polypyrrole (PPy) coated wool yarns were prepared by a continuous vapour polymerization technique, using a speed of 1 m/min with different iron(III) chloride (FeCl3) as the oxidant at different concentrations. The resistivities, tensile properties, longitudinal and cross-sectional views of PPy-coated wool yarns were investigated. Optimum specific electrical resistances of 2.96 Ω g/cm2 at 80 g/L FeCl3 and 1.69 Ω g/cm2 at 70 g/L FeCl3 were obtained for 500 and 400 twist per meter (TPM) yarns, respectively. PPy-coated wool yarns exhibited higher elongation than uncoated yarns. Longitudinal and cross-sectional views of the yarns indicate that PPy coating penetrated deep into the yarn cross-section and a uniform coating was obtained on the surface of the yarn surface. 相似文献
6.
Erbatur K. Kaynak M.O. Sabanovic A. 《Industrial Electronics, IEEE Transactions on》1999,46(5):1012-1018
The robustness property of sliding-mode controllers (SMCs) makes them attractive for industrial control applications. However, this property is valid only under ideal sliding-mode conditions. Additionally, practical SMCs are likely to exhibit high-frequency oscillations in the plant output, called chattering, and to excite unmodeled dynamics. A novel, chattering-free sliding-mode control algorithm design, based on Lyapunov stability criteria, is considered in this paper. The control algorithm developed is experimentally implemented on a direct-drive manipulator for various payload configurations. It is seen that the controller carries a certain amount of robustness property, the trajectory-following performance being only slightly affected by the changes in the payload. A comparison of the experimental results with those obtained by a well-tuned proportional-derivative control is also given 相似文献
7.
Yusuf Kaynak 《The International Journal of Advanced Manufacturing Technology》2014,72(5-8):919-933
There has been significant work on establishing relationships between machining performance and the cutting parameters for various work materials. Recent trends in machining research show that major efforts are being made to understand the impact of various cooling/lubrication methods on machining performance and surface integrity characteristics, all aimed at improving process and product performance. This study presents the experimental results of cryogenic machining of Inconel 718, a high-temperature aerospace alloy, and comparison of its performance in dry and minimum quantity lubrication machining. Experimental data on force components, progressive tool wear parameters such as flank wear, notch wear, crater wear, cutting temperature, chip morphology, and surface roughness/topography of machined samples are presented. New findings show that cryogenic machining is a promising research direction for machining of high-temperature aerospace alloy, Inconel 718, as it offers improved machining performance in terms of reduced tool wear, temperature, and improved surface quality. It was also found that the number of nozzles in cryogenic machining plays a vital role in controlling cutting forces and power consumption in cryogenic machining of Inconel 718. 相似文献
8.
S Kaynak NF Tekin I Durak AT Berk AO Saatci MF Soylev 《Canadian Metallurgical Quarterly》1998,82(12):1377-1382
Fas Ligand (FasL) can induce apoptosis of Fas-bearing cells. It is expressed on the cell surface of many tumor cells, immune-privileged tissues and activated lymphocytes. We report here that FasL can itself transduce signals, leading to cell-cycle arrest and cell death in CD4+ T cells. In vitro, FasL engagement inhibited CD4+ T-cell proliferation, cell-cycle progression, and IL-2 secretion. In vivo, FasL engagement prevented superantigen-mediated CD4+, but not CD8+, T-cell expansion. These findings demonstrate that FasL engagement regulates cell-cycle progression, and show that FasL engagement in vivo has a potent anti-inflammatory effect specific for CD4+ T cells. 相似文献
9.
Clay addition has been shown to affect polymer resins positively in terms of several physical and chemical properties, including mechanical performance, high temperature endurance and durability. These increases are limited only to relatively low concentrations of reinforcement phase, but at these low concentrations polymer/layered silicate nanocomposites (P/LS NC) have shown to exhibit higher mechanical performance than fiber reinforced polymer composites. This is among the several reasons that make P/LS NC's one of the most widely studied class of materials today. In this study, the mechanical performance of resol type phenolic resin/layered silicate nanocomposite specimens was examined by carrying out 3‐point bending, Charpy impact and fracture toughness tests to couple the observations, microstructural analysis is done through X‐ray diffraction and scanning electron microscopy. The effects of especially three factors; cure method, clay amount, and clay modification were investigated. It was concluded that highest mechanical performance was obtained by the acid curing of the phenolic resin with very low amounts (e.g., 0.5%) of either very hydrophobic or very hydrophilic Na‐montmorillonite clay additions. Improvements as high as 7% in flexural strength, 11% in flexural strain at break, 16% in Charpy impact strength, and 66% in fracture toughness values were obtained. POLYM. COMPOS., 2009. © 2008 Society of Plastics Engineers 相似文献
10.
In this study, a rapid, specific, and low-cost duplex-detection technique of pork and beef was developed by a real-time polimerase chain reaction assay based on fluorescence. Deoxyribonucleic acid was extracted from variable mixtures of pork and beef in sausage and industrial products to develop the duplex assay using the GIDAGEN® Multi-Fast DNA Isolation Kit. Identification of genomes was accomplished in the same tube by their distinctive melting peak, which was 87.5°C for pork and 80.5°C for beef, respectively. The detection limit of the method was 0.01 ng/µL deoxyribonucleic acidor 0.001% target pork and beef in sausage. The results showed that the intercalating dye based duplex real-time polimerase chain reaction is a potentially sensitive, reliable, and practical assay for the detection of meat species adulterated with beef and pork. 相似文献