A Composite Parallel Intelligent Controller for Multimodal and Uncertain Systems: Design and Development

S. Kamalasadan (USA)


Multimodal and Uncertain systems, Composite Parallel Intelligent Controller, Radial Basis Function Neural Network, Fuzzy Multiple Model Generator.


This paper presents design and development of a new intelligent controller consisting of three software agents for the control of parametric and functionally uncertain multi-modal systems. First the development of a stable parallel controller scheme will be discussed. Then, Radial Basis Function Neural Network (RBFNN) based agent design and the adaptive law formulation will be detailed. Further, the design details of a fuzzy multiple model generator and the algorithmic development and the pseudo codes are illustrated. The importance of the proposed control scheme is assessed by applying it for the position control of a single link robotic manipulator. It has been found that the proposed scheme is stable and produced precision tracking of the position trajectory in the presence of parametric and functional uncertainty in manipulator model.

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