The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base o...The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a large set of rules requires more on-line computational time and more parameters need to be adjusted. In this paper, a robust PD-type FLC is driven for a class of MIMO second order nonlin- ear systems with application to robotic manipulators. The rule base consists of only four rules per each de- gree of freedom (DOF). The approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a lin- guistic manner. The presented methodology enables the designer to systematically derive the rule base of the control. Furthermore, the controller is decoupled and the procedure is simplified leading to a computationally efficient FLC. The methodology is model free approach and does not require any information about the sys- tem nonlinearities, uncertainties, time varying parameters, etc. Here, we present experimental results for the following controllers: the conventional PD controller, computed torque controller (CTC), sliding mode con- troller (SMC) and the proposed FLC. The four controllers are tested and compared with respect to ease of design, implementation, and performance of the closed-loop system. Results show that the proposed FLC has outperformed the other controllers.展开更多
Warm mix asphalt(WMA)is a new technology which asphalt mix is produced and placed at normal temperature.It has advantages including low cost,environmentally friendly,haul-convenience,and so on.WMA has been widely test...Warm mix asphalt(WMA)is a new technology which asphalt mix is produced and placed at normal temperature.It has advantages including low cost,environmentally friendly,haul-convenience,and so on.WMA has been widely tested and applied in the USA in the last decade,but it has just started in China.Recently,a new WMA using a new plasticmacromolecule-normal temperature additive,which was called"SMC"by the production company,was introduced as asphalt modifier.Based on discussing the strength forming process of this new WMA with SMC,a series of laboratory tests,including Marshall stability test(MST),boiling test(BT),modified immersion Marshall test(MIMT),freeze-thaw splitting test(FTST),rutting test(RT),low-temperature bending test(LTBT),and abrasion loss test(ALT),were conducted in this study to assess the performance of this WMA and the capability of applying it on low volume roads in China.SMC modified asphalt mixed under normal temperature is used in testing samples.It was found that this WMA product exhibited merits on its strength,which was about 6.7 k N bigger than the requirement of5.0 k N in the JTG F40-2004,on high-temperature stability,which is about 1100 times/mm greater than the requirement of 600e1000 times/mm in the JTG F40-2004,and on its storage stability.Based on these indicators,it is recommended that this product could be used for low volume low class roads construction.However,due to the relatively lower water resistance and low-temperature cracking resistance,this product is suggested to be applied first in the areas with warm weather and little rainfall.In order to improve the performance of this WMA with SMC,further research on this SMC asphalt modifier should be continued.展开更多
文摘The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a large set of rules requires more on-line computational time and more parameters need to be adjusted. In this paper, a robust PD-type FLC is driven for a class of MIMO second order nonlin- ear systems with application to robotic manipulators. The rule base consists of only four rules per each de- gree of freedom (DOF). The approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a lin- guistic manner. The presented methodology enables the designer to systematically derive the rule base of the control. Furthermore, the controller is decoupled and the procedure is simplified leading to a computationally efficient FLC. The methodology is model free approach and does not require any information about the sys- tem nonlinearities, uncertainties, time varying parameters, etc. Here, we present experimental results for the following controllers: the conventional PD controller, computed torque controller (CTC), sliding mode con- troller (SMC) and the proposed FLC. The four controllers are tested and compared with respect to ease of design, implementation, and performance of the closed-loop system. Results show that the proposed FLC has outperformed the other controllers.
基金the financial support of National Natural Science Foundation of China(51378438)National 973 Program(2013CB036204)specific research funding from Ministry of Education(SWJTU12ZT05)
文摘Warm mix asphalt(WMA)is a new technology which asphalt mix is produced and placed at normal temperature.It has advantages including low cost,environmentally friendly,haul-convenience,and so on.WMA has been widely tested and applied in the USA in the last decade,but it has just started in China.Recently,a new WMA using a new plasticmacromolecule-normal temperature additive,which was called"SMC"by the production company,was introduced as asphalt modifier.Based on discussing the strength forming process of this new WMA with SMC,a series of laboratory tests,including Marshall stability test(MST),boiling test(BT),modified immersion Marshall test(MIMT),freeze-thaw splitting test(FTST),rutting test(RT),low-temperature bending test(LTBT),and abrasion loss test(ALT),were conducted in this study to assess the performance of this WMA and the capability of applying it on low volume roads in China.SMC modified asphalt mixed under normal temperature is used in testing samples.It was found that this WMA product exhibited merits on its strength,which was about 6.7 k N bigger than the requirement of5.0 k N in the JTG F40-2004,on high-temperature stability,which is about 1100 times/mm greater than the requirement of 600e1000 times/mm in the JTG F40-2004,and on its storage stability.Based on these indicators,it is recommended that this product could be used for low volume low class roads construction.However,due to the relatively lower water resistance and low-temperature cracking resistance,this product is suggested to be applied first in the areas with warm weather and little rainfall.In order to improve the performance of this WMA with SMC,further research on this SMC asphalt modifier should be continued.
