ANFIS based system identification of underactuated systems
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Ishan Chawla
Abstract
In this work, the effectiveness of the adaptive neural based fuzzy inference system (ANFIS) in identifying underactuated systems is illustrated. Two case studies of underactuated systems are used to validate the system identification i. e., linear inverted pendulum (LIP) and rotary inverted pendulum (RIP). Both the systems are treated as benchmark systems in modeling and control theory for their inherit nonlinear, unstable, and underactuated behavior. The systems are modeled with ANFIS using the input-output data acquired from the dynamic response of the nonlinear analytical model of the systems. The dynamic response of the ANFIS model is simulated and compared to the nonlinear mathematical model of the inverted pendulum systems. In order to check the effectiveness of the ANFIS model, mean square error is used as the performance index. From the obtained simulation results, it has been perceived that the ANFIS model performed satisfactorily within the trained operating range while a minor deviation is seen outside the trained operating region for both the case studies. Furthermore, the experimental validation of the of the proposed ANFIS model is done by comparing it with the experimental model of the rotary inverted pendulum. The obtained results show that the response of ANFIS model is in close agreement to the experimental model of the rotary inverted pendulum.
Author contribution: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.
Research funding: None declared.
Employment or leadership: None declared.
Honorarium: None declared.
Conflict of interest statement: The authors declare no conflicts of interest regarding this article.
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© 2020 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Original Research Articles
- ANFIS based system identification of underactuated systems
- The dynamical behavior of mixed type lump solutions on the (3 + 1)-dimensional generalized Kadomtsev–Petviashvili–Boussinesq equation
- A generalization of weighted companion of Ostrowski integral inequality for mappings of bounded variation
- Bright and dark optical solitons for the generalized variable coefficients nonlinear Schrödinger equation
- A multivariate spectral quasi-linearization method for the solution of (2+1) dimensional Burgers’ equations
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- On the behaviors of rough multilinear fractional integral and multi-sublinear fractional maximal operators both on product Lp and weighted Lp spaces
- Approximate controllability of nonlinear Hilfer fractional stochastic differential system with Rosenblatt process and Poisson jumps
- Lie symmetries and singularity analysis for generalized shallow-water equations
- Conditions for the local and global asymptotic stability of the time–fractional Degn–Harrison system
- Nonlinear wave equation in an inhomogeneous medium from non-standard singular Lagrangians functional with two occurrences of integrals
- Lie symmetry analysis and similarity solutions for the Jimbo – Miwa equation and generalisations
- The barotropic Rossby waves with topography on the earth’s δ-surface
- Synchronization control between discrete uncertain networks with different topologies
- Boundary shape functions methods for solving the nonlinear singularly perturbed problems with Robin boundary conditions
- Global exponential stability analysis of anti-periodic solutions of discontinuous bidirectional associative memory (BAM) neural networks with time-varying delays
- A parallel hybrid implementation of the 2D acoustic wave equation
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Articles in the same Issue
- Frontmatter
- Original Research Articles
- ANFIS based system identification of underactuated systems
- The dynamical behavior of mixed type lump solutions on the (3 + 1)-dimensional generalized Kadomtsev–Petviashvili–Boussinesq equation
- A generalization of weighted companion of Ostrowski integral inequality for mappings of bounded variation
- Bright and dark optical solitons for the generalized variable coefficients nonlinear Schrödinger equation
- A multivariate spectral quasi-linearization method for the solution of (2+1) dimensional Burgers’ equations
- Global dissipativity and exponential synchronization of mixed time-varying delays neural networks with discontinuous activations
- Integrodifference master equation describing actively growing blood vessels in angiogenesis
- On the behaviors of rough multilinear fractional integral and multi-sublinear fractional maximal operators both on product Lp and weighted Lp spaces
- Approximate controllability of nonlinear Hilfer fractional stochastic differential system with Rosenblatt process and Poisson jumps
- Lie symmetries and singularity analysis for generalized shallow-water equations
- Conditions for the local and global asymptotic stability of the time–fractional Degn–Harrison system
- Nonlinear wave equation in an inhomogeneous medium from non-standard singular Lagrangians functional with two occurrences of integrals
- Lie symmetry analysis and similarity solutions for the Jimbo – Miwa equation and generalisations
- The barotropic Rossby waves with topography on the earth’s δ-surface
- Synchronization control between discrete uncertain networks with different topologies
- Boundary shape functions methods for solving the nonlinear singularly perturbed problems with Robin boundary conditions
- Global exponential stability analysis of anti-periodic solutions of discontinuous bidirectional associative memory (BAM) neural networks with time-varying delays
- A parallel hybrid implementation of the 2D acoustic wave equation
- Approximate controllability of fractional stochastic evolution equations with nonlocal conditions
- Fractional (3+1)-dim Jimbo Miwa system: invariance properties, exact solutions, solitary pattern solutions and conservation laws
- Optical solitons and stability analysis for the generalized second-order nonlinear Schrödinger equation in an optical fiber
