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—This paper proposes a recurrent fuzzy neural network (RFNN) structure for identifying and controlling nonlinear dynamic systems. The RFNN is inherently a recurrent multilayered connectionist network for realizing fuzzy inference using dynamic fuzzy rules. Temporal relations are embedded in the network by adding feedback connections in the second layer of(More)
—The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature(More)
In this paper, an adaptive parallel control architecture to stabilize a class of nonlinear systems which are nonminimum phase is proposed. For obtaining an on-line performance and self-tuning controller, the proposed control scheme contains recurrent fuzzy neural network (RFNN) identifier, nonfuzzy controller, and RFNN compensator. The nonfuzzy controller(More)
Keywords: PID control Fractional-order PID control Electromagnetism-like algorithm Genetic algorithm a b s t r a c t Based on the electromagnetism-like algorithm, an evolutionary algorithm, improved EM algorithm with genetic algorithm technique (IEMGA), for optimization of fractional-order PID (FOPID) controller is proposed in this article. IEMGA is a(More)